Lane avoidance method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of vehicle control, in particular to a lane avoidance method and device, computer equipment and a storage medium. The method comprises the steps of judging whether a collision risk exists between a first adjacent vehicle in a first adjacent lane and a target vehicle or not; wherein the target vehicle runs at a first driving position in the target lane; if yes, adjusting the target vehicle from a first driving position in the target lane to a second driving position; and under the condition that the target vehicle driving at the second driving position still has the collision risk with the first adjacent vehicle, adjusting the target vehicle from the second driving position in the target lane to a third driving position of the second adjacent lane. According to the method and the device, the vehicle collision of the target vehicle can be predicted and avoided, side rubbing and side collision of the target vehicle due to the fact that the adjacent vehicles are ultra-wide or press lines are prevented, the vehicle driving safety of the target vehicle is guaranteed, and the driver and the property safety of the driver are better guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a lane avoidance method, device, computer equipment and storage medium. Background Art

[0002] With the development of vehicle assisted driving technology, more and more vehicles can achieve L2 level vehicle assisted driving. The mainstream L2 level vehicles on the market achieve assisted driving through a camera and a millimeter-wave radar.

[0003] However, when the driver controls the vehicle through L2 level vehicle assisted driving, the risk of side collision of the vehicle will be ignored, resulting in an increased risk of lateral scratches and collisions. Summary of the invention

[0004] Based on this, it is necessary to provide a lane avoidance method, device, computer equipment and storage medium that can avoid the risk of side collision of vehicles in response to the above technical problems.

[0005] In a first aspect, the present application provides a lane avoidance method. The method comprises:

[0006] Determine whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane;

[0007] If so, adjusting the target vehicle from a first driving position in the target lane to a second driving position;

[0008] When there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0009] In one embodiment, when there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle, adjusting the target vehicle from the second driving position in the target lane to a third driving position in the second adjacent lane includes:

[0010] determining whether there is a collision risk between the target vehicle traveling at the second driving position and the first adjacent vehicle;

[0011] If so, determine whether the second adjacent lane is an opposite lane;

[0012] If the second adjacent lane is not an oncoming lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0013] In one embodiment, adjusting the target vehicle from the second driving position in the target lane to a third driving position in the second adjacent lane includes:

[0014] determining whether there is a second adjacent vehicle in the second adjacent lane;

[0015] If there is no second adjacent vehicle in the second adjacent lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0016] In one embodiment, the method further comprises:

[0017] If the second adjacent lane is an opposite lane, the target vehicle is controlled to sound a horn alarm and a driver warning, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0018] In one embodiment, the method further comprises:

[0019] If there is a second adjacent vehicle in the second adjacent lane, the target vehicle is controlled to sound a horn alarm and alert the driver, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0020] In one of the embodiments, the target vehicle includes at least one camera and at least one millimeter-wave radar arranged in the front direction of the vehicle, and at least four millimeter-wave radars and at least two ordinary cameras symmetrically arranged on the sides of the vehicle.

[0021] In a second aspect, the present application also provides a lane avoidance device. The device comprises:

[0022] A judgment module, used to judge whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane;

[0023] a first adjustment module, for adjusting the target vehicle from a first driving position to a second driving position in a target lane, if present;

[0024] The second adjustment module is used to adjust the target vehicle from the second driving position in the target lane to a third driving position in the second adjacent lane when there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle.

[0025] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0026] Determine whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane;

[0027] If so, adjusting the target vehicle from a first driving position in the target lane to a second driving position;

[0028] When there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0029] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0030] Determine whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane;

[0031] If so, adjusting the target vehicle from a first driving position in the target lane to a second driving position;

[0032] When there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0033] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0034] Determine whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane;

[0035] If so, adjusting the target vehicle from a first driving position in the target lane to a second driving position;

[0036] When there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0037] The above-mentioned lane avoidance method, device, computer equipment and storage medium determine whether there is a collision risk between the first adjacent vehicle in the first adjacent lane and the target vehicle, so as to adjust the target vehicle from the first driving position in the target lane to the second driving position when there is a collision risk, and further determine whether there is a collision risk between the target vehicle traveling in the second driving position and the first adjacent vehicle. When there is still a collision risk between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to the third driving position in the second adjacent lane, thereby realizing the prediction and avoidance of vehicle-to-vehicle collision with the target vehicle, preventing the target vehicle from being side-scratched and side-collided due to the adjacent vehicle being over-width or crossing the line, thereby ensuring the driving safety of the target vehicle and better protecting the safety of the driver and the driver's property. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 An application environment diagram of a lane avoidance method provided in an embodiment of the present application;

[0039] Figure 2 A schematic diagram of a flow chart of a first lane avoidance method provided in an embodiment of the present application;

[0040] Figure 3 A schematic diagram of the scanning coverage of the camera and millimeter wave radar provided in an embodiment of the present application;

[0041] Figure 4 A schematic diagram of a side detection area provided in an embodiment of the present application;

[0042] Figure 5 A schematic diagram of a flow chart of a second lane avoidance method provided in an embodiment of the present application;

[0043] Figure 6 A schematic diagram of a flow chart of a third lane avoidance method provided in an embodiment of the present application;

[0044] Figure 7 A schematic diagram of a lane avoidance system provided in an embodiment of the present application;

[0045] Figure 8 A structural block diagram of a first lane avoidance device provided in an embodiment of the present application;

[0046] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. In the description of the present application, the description of the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without contradicting each other.

[0049] The lane avoidance method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. By judging whether there is a collision risk between the first adjacent vehicle in the first adjacent lane and the target vehicle, the target vehicle is adjusted from the first driving position in the target lane to the second driving position when there is a collision risk, and further judging whether there is a collision risk between the target vehicle traveling at the second driving position and the first adjacent vehicle, and when there is still a collision risk between the target vehicle traveling at the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to the third driving position of the second adjacent lane. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices, and the Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0050] In one embodiment, Figure 2 As shown, a lane avoidance method is provided, which is applied to Figure 1 Taking the server 104 in the example as an example, the following steps are included:

[0051] S201, determining whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle.

[0052] The target vehicle is traveling at a first driving position in a target lane.

[0053] It should be noted that, when it is necessary to determine whether there is a risk of collision between the first adjacent vehicle in the first adjacent lane and the target vehicle, it is possible to determine whether the first driving speed of the first adjacent vehicle located behind the target vehicle in the first adjacent lane is greater than the target driving speed of the target vehicle, or to determine whether the first driving speed of the first adjacent vehicle located in front of the target vehicle in the first adjacent lane is less than the target driving speed of the target vehicle; and, at the same time, determine whether the lateral distance between the target vehicle and the first adjacent vehicle is less than a preset distance threshold, and then, based on the above judgment results, determine whether there is a risk of collision between the first adjacent vehicle in the first adjacent lane and the target vehicle.

[0054] In one embodiment of the present application, if a first driving speed of a first adjacent vehicle located behind a target vehicle in a first adjacent lane is greater than a target driving speed of the target vehicle, and a lateral distance between the target vehicle and the first adjacent vehicle is less than a preset distance threshold, it is determined that there is a risk of collision between the first adjacent vehicle in the first adjacent lane and the target vehicle.

[0055] In one embodiment of the present application, if the first driving speed of the first adjacent vehicle located behind the target vehicle in the first adjacent lane is not greater than the target driving speed of the target vehicle, and / or the lateral distance between the target vehicle and the first adjacent vehicle is not less than a preset distance threshold, it is determined that there is no risk of collision between the first adjacent vehicle in the first adjacent lane and the target vehicle.

[0056] In one embodiment of the present application, if a first driving speed of a first adjacent vehicle in front of a target vehicle in a first adjacent lane is less than a target driving speed of the target vehicle, and a lateral distance between the target vehicle and the first adjacent vehicle is less than a preset distance threshold, it is determined that there is a risk of collision between the first adjacent vehicle in the first adjacent lane and the target vehicle.

[0057] In one embodiment of the present application, if a first driving speed of a first adjacent vehicle in front of the target vehicle in the first adjacent lane is not less than a target driving speed of the target vehicle, and / or a lateral distance between the target vehicle and the first adjacent vehicle is not less than a preset distance threshold, it is determined that there is no risk of collision between the first adjacent vehicle in the first adjacent lane and the target vehicle.

[0058] The target vehicle can obtain the lateral distance between the target vehicle and the first adjacent vehicle through the millimeter wave radar arranged on the side of the vehicle;

[0059] Specifically, the target vehicle includes at least one camera and at least one millimeter-wave radar arranged in the front direction of the vehicle, and at least four millimeter-wave radars and at least two ordinary cameras symmetrically arranged on the sides of the vehicle.

[0060] In one embodiment of the present application, Figure 3 As shown in the figure, if the target vehicle includes 3 cameras and 5 millimeter-wave radars, the 1 camera and millimeter-wave radar facing the vehicle are sensors of the current mainstream L2 system, and the other 4 millimeter-wave radars and 2 cameras on the side of the vehicle are additional sensors added in this application. The main detection area of ​​the additional sensors is the two sides of the vehicle. Figure 4 As shown, the detection area of ​​the target vehicle on both sides of the vehicle is from 50m forward from the front of the vehicle to 50m backward from the rear of the vehicle, and the side distance is from the side of the vehicle to 5m away from the side of the vehicle.

[0061] S202: If yes, adjust the target vehicle from the first driving position in the target lane to the second driving position.

[0062] It should be noted that, in the process of adjusting the target vehicle from the first driving position in the target lane to the second driving position, it is necessary to judge in real time the interval distance between the target vehicle and the lane line in the target lane, wherein the lane line in the target lane is the lane line corresponding to the lateral moving direction of the target vehicle; when the interval distance between the target lane and the lane line in the target lane is less than or equal to the preset interval threshold, the driving position of the target vehicle at that time is taken as the second driving position.

[0063] The interval threshold may be set or adjusted according to actual conditions and the historical experience of the vehicle driver, and the value range of the interval threshold is not limited here.

[0064] S203: When there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle, adjust the target vehicle from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0065] It should be noted that when it is necessary to adjust the target vehicle from the second driving position in the target lane to the third driving position in the second adjacent lane, it can be determined whether the second adjacent lane is a reverse lane, and whether there is a second adjacent vehicle in the second adjacent lane. Furthermore, if it is determined that the target vehicle has the conditions to change lanes, the target vehicle is adjusted from the second driving position in the target lane to the third driving position in the second adjacent lane.

[0066] The above-mentioned lane avoidance method determines whether there is a collision risk between the first adjacent vehicle in the first adjacent lane and the target vehicle, so as to adjust the target vehicle from the first driving position in the target lane to the second driving position when there is a collision risk, and further determines whether there is a collision risk between the target vehicle traveling in the second driving position and the first adjacent vehicle. When there is still a collision risk between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to the third driving position in the second adjacent lane, thereby realizing the prediction and avoidance of vehicle-to-vehicle collision with the target vehicle, preventing the target vehicle from having a side scratch or side collision due to the adjacent vehicle being too wide or crossing the line, thereby ensuring the driving safety of the target vehicle and better protecting the safety of the driver and the driver's property.

[0067] In one embodiment, if Figure 5 As shown, when it is necessary to adjust the target vehicle from the second driving position in the target lane to the third driving position in the second adjacent lane when there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle, the following contents may be specifically included:

[0068] S501, determining whether there is a collision risk between a target vehicle traveling at a second driving position and a first adjacent vehicle.

[0069] It should be noted that when it is necessary to determine whether there is a collision risk between the first adjacent vehicle in the first adjacent lane and the target vehicle traveling in the second driving position, it can be determined whether there is a collision risk by combining the front and rear position relationship between the first adjacent vehicle and the target vehicle, the target vehicle speed of the target vehicle, the first vehicle speed of the first adjacent lane and the lateral distance between the target vehicle and the first adjacent vehicle.

[0070] Specifically, in one embodiment of the present application, if the first driving speed of the first adjacent vehicle in the first adjacent lane and located behind the target vehicle traveling in the second driving position is greater than the target driving speed of the target vehicle, and the lateral distance between the target vehicle and the first adjacent vehicle is less than a preset distance threshold, it is determined that there is a risk of collision between the first adjacent vehicle in the first adjacent lane and the target vehicle.

[0071] In one embodiment of the present application, if the first driving speed of the first adjacent vehicle in the first adjacent lane that is located behind the target vehicle traveling in the second driving position is not greater than the target driving speed of the target vehicle, and / or the lateral distance between the target vehicle and the first adjacent vehicle is not less than a preset distance threshold, it is determined that there is no risk of collision between the first adjacent vehicle in the first adjacent lane and the target vehicle.

[0072] In one embodiment of the present application, if a first driving speed of a first adjacent vehicle located in front of a target vehicle in a first adjacent lane is less than a target driving speed of a target vehicle traveling in a second driving position, and a lateral distance between the target vehicle and the first adjacent vehicle is less than a preset distance threshold, it is determined that there is a risk of collision between the first adjacent vehicle in the first adjacent lane and the target vehicle.

[0073] In one embodiment of the present application, if a first driving speed of a first adjacent vehicle located in front of the target vehicle in the first adjacent lane is not less than a target driving speed of the target vehicle traveling in the second driving position, and / or a lateral distance between the target vehicle and the first adjacent vehicle is not less than a preset distance threshold, it is determined that there is no risk of collision between the first adjacent vehicle in the first adjacent lane and the target vehicle.

[0074] S502: If yes, determine whether the second adjacent lane is an opposite lane.

[0075] In one embodiment of the present application, an information acquisition request for the second adjacent lane can be sent to the lane information database, and the information acquisition request is used to instruct the lane information database to feedback lane information of the second adjacent lane, and the lane information is used to indicate whether the second adjacent lane is an opposite lane.

[0076] The lane information database stores lane information of at least one vehicle.

[0077] In another embodiment of the present application, the road sign of the second adjacent lane may be detected by a vehicle sensor of the target vehicle, and then, based on the road sign of the second adjacent lane, it is determined whether the second adjacent lane is an opposite lane.

[0078] S503: If the second adjacent lane is not an opposite lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0079] It should be noted that after determining that the second adjacent lane is not an oncoming lane, the process of adjusting the target vehicle from the second driving position in the target lane to the third driving position in the second adjacent lane may include the following: determining whether there is a second adjacent vehicle in the second adjacent lane; if there is no second adjacent vehicle in the second adjacent lane, adjusting the target vehicle from the second driving position in the target lane to the third driving position in the second adjacent lane.

[0080] To further illustrate, if there is a second adjacent vehicle in the second adjacent lane, the target vehicle is controlled to sound a horn alarm and alert the driver, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0081] In one embodiment of the present application, in order to further ensure the driving safety of the target vehicle, when the second adjacent lane is an opposite lane, the second driving position is not adjusted. Specifically, if the second adjacent lane is an opposite lane, the target vehicle is controlled to sound a horn alarm and a driver warning, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0082] The above-mentioned lane avoidance method realizes flexible adjustment of the driving position of the target vehicle by judging whether the second adjacent lane is the opposite lane and judging whether there is a second adjacent vehicle in the second adjacent lane, realizes prediction and avoidance of vehicle-to-vehicle collision with the target vehicle, and prevents side scratches and side collisions of the target vehicle due to the adjacent vehicle being over-width or crossing the line, thereby ensuring the driving safety of the target vehicle and better protecting the safety of the driver and the driver's property.

[0083] In one embodiment, if Figure 6 As shown, when the target vehicle needs to be adjusted from the second driving position in the target lane to the third driving position in the second adjacent lane, the following contents may be included:

[0084] S601, determining whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane.

[0085] S602: If yes, adjust the target vehicle from the first driving position in the target lane to the second driving position.

[0086] S603: Determine whether there is a collision risk between the target vehicle traveling at the second driving position and the first adjacent vehicle.

[0087] S604, if it exists, determine whether the second adjacent lane is an opposite lane; if the second adjacent lane is not an opposite lane, execute S605; if the second adjacent lane is an opposite lane, execute S606.

[0088] S605, determining whether there is a second adjacent vehicle in the second adjacent lane. If there is no second adjacent vehicle in the second adjacent lane, executing S607; if there is a second adjacent vehicle in the second adjacent lane, executing S608.

[0089] S606, controlling the target vehicle to sound a horn alarm and alert the driver, and controlling the target vehicle to remind the target driver to take over the target vehicle.

[0090] S607: Adjust the target vehicle from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0091] S608, controlling the target vehicle to sound a horn alarm and alert the driver, and controlling the target vehicle to remind the target driver to take over the target vehicle.

[0092] In one embodiment, if Figure 7 As shown, the lane avoidance system for executing the lane avoidance method is composed of three parts: a perception part, a processor part and a vehicle controller.

[0093] The above-mentioned lane avoidance method determines whether there is a collision risk between the first adjacent vehicle in the first adjacent lane and the target vehicle, so as to adjust the target vehicle from the first driving position in the target lane to the second driving position when there is a collision risk, and further determines whether there is a collision risk between the target vehicle traveling in the second driving position and the first adjacent vehicle. When there is still a collision risk between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to the third driving position in the second adjacent lane, thereby realizing the prediction and avoidance of vehicle-to-vehicle collision with the target vehicle, preventing the target vehicle from having a side scratch or side collision due to the adjacent vehicle being too wide or crossing the line, thereby ensuring the driving safety of the target vehicle and better protecting the safety of the driver and the driver's property.

[0094] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0095] Based on the same inventive concept, the embodiment of the present application also provides a lane avoidance device for implementing the lane avoidance method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more lane avoidance device embodiments provided below can refer to the limitations of the lane avoidance method above, and will not be repeated here.

[0096] In one embodiment, Figure 8 As shown, a lane avoidance device is provided, comprising: a judgment module 10, a first adjustment module 20 and a second adjustment module 30, wherein:

[0097] The judgment module 10 is used to judge whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane.

[0098] The first adjustment module 20 is used to adjust the target vehicle from a first driving position to a second driving position in the target lane, if any.

[0099] The second adjustment module 30 is used to adjust the target vehicle from the second driving position in the target lane to a third driving position in the second adjacent lane when there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle.

[0100] In one embodiment, determining whether there is a collision risk between a target vehicle traveling in a second driving position and a first adjacent vehicle;

[0101] If so, determine whether the second adjacent lane is an opposite lane;

[0102] If the second adjacent lane is not an oncoming lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0103] In one embodiment, determining whether there is a second adjacent vehicle in the second adjacent lane;

[0104] If there is no second adjacent vehicle in the second adjacent lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0105] In one embodiment, if the second adjacent lane is an opposite lane, the target vehicle is controlled to sound a horn alarm and a driver warning, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0106] In one embodiment, if there is a second adjacent vehicle in the second adjacent lane, the target vehicle is controlled to sound a horn alarm and alert the driver, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0107] In one embodiment, the target vehicle includes at least one camera and at least one millimeter-wave radar arranged in the front direction of the vehicle, and at least four millimeter-wave radars and at least two ordinary cameras symmetrically arranged in the side direction of the vehicle.

[0108] The above-mentioned lane avoidance device determines whether there is a collision risk between the first adjacent vehicle in the first adjacent lane and the target vehicle, so as to adjust the target vehicle from the first driving position in the target lane to the second driving position when there is a collision risk, and further determines whether there is a collision risk between the target vehicle traveling in the second driving position and the first adjacent vehicle. When there is still a collision risk between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to the third driving position in the second adjacent lane, thereby realizing the prediction and avoidance of vehicle-to-vehicle collision with the target vehicle, preventing the target vehicle from having a side scratch or side collision due to the adjacent vehicle being too wide or crossing the line, thereby ensuring the driving safety of the target vehicle and better protecting the safety of the driver and the driver's property.

[0109] Each module in the lane avoidance device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0110] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig. 9 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a lane avoidance method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0111] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0112] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0113] Determine whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane;

[0114] If so, adjusting the target vehicle from a first driving position in the target lane to a second driving position;

[0115] When there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0116] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0117] determining whether there is a collision risk between the target vehicle traveling at the second driving position and the first adjacent vehicle;

[0118] If so, determine whether the second adjacent lane is an opposite lane;

[0119] If the second adjacent lane is not an oncoming lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0120] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0121] Determining whether there is a second adjacent vehicle in the second adjacent lane;

[0122] If there is no second adjacent vehicle in the second adjacent lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0123] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0124] If the second adjacent lane is an opposite lane, the target vehicle is controlled to sound a horn alarm and a driver warning, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0125] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0126] If there is a second adjacent vehicle in the second adjacent lane, the target vehicle is controlled to sound a horn alarm and alert the driver, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0127] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0128] The target vehicle includes at least one camera and at least one millimeter-wave radar arranged in the front direction of the vehicle, and at least four millimeter-wave radars and at least two ordinary cameras symmetrically arranged in the side direction of the vehicle.

[0129] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0130] Determine whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane;

[0131] If so, adjusting the target vehicle from a first driving position in the target lane to a second driving position;

[0132] When there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0133] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0134] determining whether there is a collision risk between the target vehicle traveling at the second driving position and the first adjacent vehicle;

[0135] If so, determine whether the second adjacent lane is an opposite lane;

[0136] If the second adjacent lane is not an oncoming lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0137] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0138] Determining whether there is a second adjacent vehicle in the second adjacent lane;

[0139] If there is no second adjacent vehicle in the second adjacent lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0140] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0141] If the second adjacent lane is an opposite lane, the target vehicle is controlled to sound a horn alarm and a driver warning, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0142] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0143] If there is a second adjacent vehicle in the second adjacent lane, the target vehicle is controlled to sound a horn alarm and alert the driver, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0144] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0145] The target vehicle includes at least one camera and at least one millimeter-wave radar arranged in the front direction of the vehicle, and at least four millimeter-wave radars and at least two ordinary cameras symmetrically arranged in the side direction of the vehicle.

[0146] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0147] Determine whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane;

[0148] If so, adjusting the target vehicle from a first driving position in the target lane to a second driving position;

[0149] When there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0150] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0151] determining whether there is a collision risk between the target vehicle traveling at the second driving position and the first adjacent vehicle;

[0152] If so, determine whether the second adjacent lane is an opposite lane;

[0153] If the second adjacent lane is not an oncoming lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0154] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0155] Determining whether there is a second adjacent vehicle in the second adjacent lane;

[0156] If there is no second adjacent vehicle in the second adjacent lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

[0157] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0158] If the second adjacent lane is an opposite lane, the target vehicle is controlled to sound a horn alarm and a driver warning, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0159] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0160] If there is a second adjacent vehicle in the second adjacent lane, the target vehicle is controlled to sound a horn alarm and alert the driver, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

[0161] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0162] The target vehicle includes at least one camera and at least one millimeter-wave radar arranged in the front direction of the vehicle, and at least four millimeter-wave radars and at least two ordinary cameras symmetrically arranged in the side direction of the vehicle.

[0163] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0164] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0165] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0166] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A lane avoidance method, characterized in that: The method comprises: Determine whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane; If so, adjusting the target vehicle from a first driving position in the target lane to a second driving position; When there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

2. The method according to claim 1, characterized in that When there is still a risk of collision between the target vehicle traveling at the second driving position and the first adjacent vehicle, adjusting the target vehicle from the second driving position in the target lane to a third driving position in the second adjacent lane includes: determining whether there is a collision risk between the target vehicle traveling at the second driving position and the first adjacent vehicle; If so, determine whether the second adjacent lane is an opposite lane; If the second adjacent lane is not an oncoming lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

3. The method according to claim 2, characterized in that The step of adjusting the target vehicle from the second driving position in the target lane to the third driving position in the second adjacent lane includes: determining whether there is a second adjacent vehicle in the second adjacent lane; If there is no second adjacent vehicle in the second adjacent lane, the target vehicle is adjusted from the second driving position in the target lane to a third driving position in the second adjacent lane.

4. The method according to claim 2, characterized in that: The method further comprises: If the second adjacent lane is an opposite lane, the target vehicle is controlled to sound a horn alarm and a driver warning, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

5. The method according to claim 3, characterized in that: The method further comprises: If there is a second adjacent vehicle in the second adjacent lane, the target vehicle is controlled to sound a horn alarm and alert the driver, and the target vehicle is controlled to remind the target driver to take over the target vehicle.

6. The method according to any one of claims 1 to 5, characterized in that The target vehicle includes at least one camera and at least one millimeter-wave radar arranged in the front direction of the vehicle, and at least four millimeter-wave radars and at least two ordinary cameras symmetrically arranged in the side direction of the vehicle.

7. A lane avoidance device, characterized in that: The device comprises: A judgment module, used to judge whether there is a collision risk between a first adjacent vehicle in a first adjacent lane and a target vehicle; wherein the target vehicle is traveling at a first driving position in the target lane; a first adjustment module, for adjusting the target vehicle from a first driving position to a second driving position in a target lane, if present; The second adjustment module is used to adjust the target vehicle from the second driving position in the target lane to a third driving position in the second adjacent lane when there is still a risk of collision between the target vehicle traveling in the second driving position and the first adjacent vehicle.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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