Vehicle meeting control method and electronic equipment

Abstract

The invention provides a vehicle meeting control method and electronic equipment, and the method comprises the steps: responding to a current vehicle entering a meeting auxiliary mode, judging whether the current vehicle and an opposite vehicle meet a safe meeting condition or not, if not, obtaining a historical driving track of the current vehicle, and controlling the current vehicle to reverse along the historical driving track, in the reversing driving process of the current vehicle, the target parking position is determined according to the reversing environment sensing information of the current vehicle, so that the current vehicle is controlled to be parked according to the target parking position, avoiding of the opposite vehicle in the meeting scene can be achieved, and under the condition that the safe meeting condition is not met, the safety of the opposite vehicle is improved. According to the method, the current vehicle is parked to the safe position to realize vehicle avoidance, the vehicle rubbing risk in the meeting scene in the prior art can be solved, the vehicle driving safety is ensured, the vehicle position does not need to be manually and frequently adjusted, and the vehicle passing efficiency in the meeting scene can be improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a vehicle meeting control method and electronic equipment. Background Art

[0002] Currently, when vehicles are traveling on narrow roads or mountain roads, a passing scene may occur, that is, two vehicles traveling in opposite directions pass each other at a certain point on the same road.

[0003] Due to the limitations of surrounding conditions, it is difficult for manual driving to quickly and accurately determine the appropriate lateral distance for meeting other vehicles, or it is difficult to accurately find the appropriate position to give way to other vehicles, or it is difficult to accurately stop at the ideal position after finding the position to give way to other vehicles, and repeated adjustments are required.

[0004] Moreover, when the position of giving way is relatively extreme, manual driving is easily limited by factors such as experience, vision, mental and emotional factors, and cannot adjust the vehicle to the optimal position, resulting in the risk of vehicle scratches, affecting the safety of vehicles and personnel, and further causing traffic congestion and other problems. Frequent manual adjustment of vehicle positions will also reduce the efficiency of traffic in oncoming scenes. Summary of the invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide a vehicle meeting control method and electronic equipment to solve the risk of vehicle scratches in meeting scenarios in the prior art, ensure the safety of vehicle driving, and improve the traffic efficiency of vehicles in meeting scenarios.

[0006] The present application provides a vehicle meeting control method, the method comprising: In response to the current vehicle entering the meeting assistance mode, determining whether the current vehicle and the oncoming vehicle meet a safe meeting condition; If not, obtaining the historical driving trajectory of the current vehicle, and controlling the current vehicle to reverse along the historical driving trajectory; During the reverse driving of the current vehicle, a target parking position is determined based on the reverse environment perception information of the current vehicle, and the current vehicle is controlled to park based on the target parking position.

[0007] Optionally, the method further includes: In response to a vehicle-meeting mode start instruction, obtaining a component status of each preset acquisition component in the current vehicle; If the component states of all preset collection components are in normal states, the current vehicle is controlled to enter a meeting assist mode.

[0008] Optionally, after controlling the current vehicle to enter the meeting assistance mode, the method further includes: In response to detecting that a user rotates the steering wheel or a user triggers a preset button combination in the steering wheel, controlling the current vehicle to exit the meeting assist mode; and / or, In response to detecting that a brake pedal or an accelerator pedal is triggered by a user, the current vehicle is controlled to exit the meeting assist mode.

[0009] Optionally, determining whether the current vehicle and the oncoming vehicle meet safe meeting conditions includes: Obtaining the current body width of the current vehicle, the road width of the road where the current vehicle is located, and the oncoming body width of the oncoming vehicle; Based on the current vehicle body width and the oncoming vehicle body width, determining the total vehicle body width for meeting the current vehicle and the oncoming vehicle, and determining the minimum required meeting width according to the total vehicle body width and a preset safe meeting distance; If the road width is greater than the minimum required passing width, it is determined that the current vehicle and the oncoming vehicle meet a safe passing condition.

[0010] Optionally, determining a target parking position based on the reversing environment perception information of the current vehicle includes: Determine, based on the reversing environment perception information, the detection position of each environmental object in the reversing environment of the current vehicle, the detection position of each road obstacle, and the road surface size; Determining a parking area for the current vehicle based on the detected positions of the environmental objects, the detected positions of the road obstacles, and the road size; A target parking position is determined according to the parking area and the oncoming vehicle body width.

[0011] Optionally, controlling the current vehicle to park based on the target parking position includes: Displaying parking reminder information for the target parking location on the vehicle interface; In response to detecting that a user triggers a confirmation operation for the parking prompt information in the vehicle interface, determining a parking path for the current vehicle based on the target parking position; The current vehicle is controlled to park according to the parking path.

[0012] Optionally, after the vehicle interface displays the parking prompt information for the target parking position, the method further includes: If it is not detected that the user triggers a confirmation operation for the parking prompt information in the vehicle-machine interface, or if it is detected that the user triggers a position update operation for the parking prompt information in the vehicle-machine interface, then the step of controlling the current vehicle to reverse along the historical driving trajectory is returned to redetermine the target parking position.

[0013] Optionally, the method further includes: In response to detecting that the number of times the target parking position is determined reaches a preset number, or the reverse driving distance of the current vehicle reaches a preset distance, the current vehicle is controlled to exit the meeting assistance mode, and mode exit notification information is displayed on the vehicle interface.

[0014] Optionally, after controlling the current vehicle to reverse along the historical driving trajectory, the method further includes: During the reverse driving of the current vehicle, in response to detecting that there are other vehicles or obstacles on the historical driving track behind the current vehicle, controlling the current vehicle to terminate the meeting assist mode to stop the reverse driving of the current vehicle, and displaying a mode pause prompt message on the vehicle interface; In response to detecting that other vehicles or obstacles on the historical driving trajectory leave, the current vehicle is controlled to resume the meeting assist mode to continue controlling the current vehicle to reverse along the historical driving trajectory.

[0015] The present application also provides an electronic device, the electronic device comprising: Processor and memory; The processor is used to execute the steps of the vehicle meeting control method provided in any embodiment of the present application by calling the program or instruction stored in the memory.

[0016] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a program or instruction, wherein the program or instruction enables a computer to execute the steps of the vehicle meeting control method provided by any embodiment of the present application.

[0017] In summary, the present application proposes a vehicle meeting control method. In response to the current vehicle entering the meeting assistance mode, the method determines whether the current vehicle and the oncoming vehicle meet the safe meeting conditions. If not, the historical driving trajectory of the current vehicle is obtained, and the current vehicle is controlled to reverse along the historical driving trajectory. During the reverse driving of the current vehicle, the target parking position is determined according to the reversing environment perception information of the current vehicle, so that the current vehicle is controlled to park according to the target parking position, which can achieve avoidance of the oncoming vehicle in the meeting scenario. When the safe meeting conditions are not met, the method determines a safe position through the reversing environment perception information during the reversing driving process, so that the vehicle avoidance is achieved by parking the current vehicle at a safe position, which can solve the risk of vehicle scratches in the meeting scenario in the prior art and ensure the safety of vehicle driving. In addition, the method can park based on the target parking position without frequent manual adjustment of the vehicle position, thereby improving the efficiency of vehicle passage in the meeting scenario. In addition, the method controls the vehicle to reverse along the historical driving trajectory without additionally generating the reversing trajectory of the vehicle, which can reduce the system memory usage and further improve the efficiency of vehicle passage in the meeting scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a flow chart of a vehicle meeting control method provided by an embodiment of the present application; Figure 2 It is a logic diagram of a vehicle meeting control method provided by an embodiment of the present application; Figure 3 is a control flow chart of a vehicle meeting control system provided by an embodiment of the present application; Figure 4 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0021] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] As mentioned in the background technology, in order to solve the problems in the prior art, the present application proposes a vehicle meeting control method. Figure 1 is a flow chart of a vehicle meeting control method provided by an embodiment of the present application. Figure 1 , the vehicle meeting control method specifically includes: S110 . In response to the current vehicle entering a meeting assistance mode, determining whether the current vehicle and an oncoming vehicle meet a safe meeting condition.

[0023] The current vehicle may refer to the vehicle itself; the meeting assistance mode may refer to a mode that assists the vehicle in meeting safely through vehicle control. In the embodiment of the present application, the user may actively turn on the meeting assistance mode, or the meeting assistance mode may be automatically turned on based on the identified meeting scene.

[0024] For example, the function control corresponding to the meeting assistance mode can be displayed on the vehicle interface. If it is detected that the user triggers the function control, the current vehicle can be controlled to enter the meeting assistance mode; or, the current environmental information can be obtained in real time based on the perception acquisition module of the current vehicle, and then the current environmental information can be used to detect whether the current vehicle is in a meeting scene. If so, the current vehicle can be automatically controlled to enter the meeting assistance mode.

[0025] In an embodiment of the present application, in order to ensure the safety of the current vehicle after entering the meeting assistance mode, when the user actively turns on the meeting assistance mode, it is also possible to first determine whether the vehicle state is a fault state, thereby controlling the current vehicle to enter the meeting assistance mode when there is no fault.

[0026] In a specific implementation, the method provided in the embodiment of the present application further includes: In response to the on-board instruction of the meeting mode, the component status of each preset acquisition component in the current vehicle is obtained; if the component status of all the preset acquisition components is normal, the current vehicle is controlled to enter the meeting assist mode.

[0027] Among them, the instruction to start the meeting mode can be generated when it is detected that the user triggers the function control corresponding to the meeting assistance mode, or it can be generated when it is detected that the user initiates the mode starting voice.

[0028] Specifically, if a command to turn on the meeting mode is detected, it means that the user has the need to turn on the meeting assistance mode at this time. Therefore, the component status of each preset collection component in the current vehicle can be obtained first, where the preset collection component can be a component in a perception collection module such as an ultrasonic radar, a millimeter-wave radar, a surround-view camera, and a rear-view camera.

[0029] Furthermore, for each preset collection component, it can be determined whether the component status of the preset collection component is in a normal state. If not, it means that the preset collection component may be faulty or the lens is blocked. If the meeting assistance mode is directly entered, it may cause safety risks due to incorrect or incapable information perception. Therefore, at this time, a reminder message of failure to activate the meeting mode can be displayed through the vehicle interface, and the component identification of the preset collection component in the abnormal state can also be displayed in the vehicle interface.

[0030] In addition, if the component status of all preset collection components is normal, it means that the perception and collection module is in normal operation at this time and can control the current vehicle to enter the meeting assistance mode.

[0031] Through the above implementation, when the instruction to start the meeting mode is detected, the component status of each preset collection component can be obtained, and it can be determined whether there is any abnormality. Then, the meeting assistance mode can be started when all the preset collection components are normal, thereby ensuring the safety and reliability of the vehicle after the meeting assistance mode is turned on.

[0032] Considering that after entering the meeting assistance mode, the user may want to control the vehicle according to his own intention, the meeting assistance mode can also be exited based on the user operation. Optionally, after controlling the current vehicle to enter the meeting assistance mode, it also includes: In response to detecting that the user rotates the steering wheel or the user triggers a preset button combination in the steering wheel, controlling the current vehicle to exit the meeting assist mode; and / or, In response to detecting that the brake pedal or the accelerator pedal is triggered by the user, the current vehicle is controlled to exit the meeting assist mode.

[0033] The condition for exiting the meeting assist mode may be detecting that the steering wheel is triggered, or the pedal is triggered, or the steering wheel is triggered and the pedal is triggered. The steering wheel is triggered by the user rotating the steering wheel or the user triggering a preset button combination in the steering wheel, and the pedal is triggered by the user triggering the brake pedal or the user triggering the accelerator pedal.

[0034] For example, if it is detected that the user rotates the steering wheel, or presses a preset button combination on the steering wheel, it means that the user has a need to actively control the vehicle, and the current vehicle can be controlled to exit the meeting assistance mode.

[0035] Alternatively, if it is detected that the user steps on the triggering brake pedal or accelerator pedal, or the speed of stepping on the triggering brake pedal or accelerator pedal is greater than a preset speed, it can be determined that the user has triggered the brake pedal or accelerator pedal and the user has a need to actively control the vehicle. At this time, the current vehicle can be controlled to exit the meeting assist mode.

[0036] Alternatively, if it is detected that the user rotates the steering wheel and triggers the brake pedal at the same time, it is determined that the user has a need to actively control the vehicle, and the current vehicle is controlled to exit the meeting assistance mode. Alternatively, if it is detected that the user triggers a preset button combination in the steering wheel and triggers the accelerator pedal at the same time, it is determined that the user has a need to actively control the vehicle, and the current vehicle is controlled to exit the meeting assistance mode.

[0037] Through the above-mentioned optional implementation mode, after the current vehicle enters the meeting assistance mode, the meeting assistance mode can be exited based on subjective operations such as user manipulation of the steering wheel or pedals, thereby ensuring that the vehicle can be controlled in time according to the user's intention, so that user operations are at the highest priority, thereby ensuring the safety of vehicle meeting.

[0038] In the embodiment of the present application, after the current vehicle enters the meeting assist mode, it can be determined whether the current vehicle and the oncoming vehicle meet the safe meeting condition. The safe meeting condition can be a pre-set condition that allows the current vehicle and the oncoming vehicle to meet safely; for example, the safe meeting condition can be that the road width can meet the body width of the current vehicle and the oncoming vehicle.

[0039] In a specific implementation, determining whether the current vehicle and the oncoming vehicle meet the safe passing condition includes the following steps: Step 11, obtaining the current body width of the current vehicle, the road width of the road where the current vehicle is located, and the oncoming body width of the oncoming vehicle; Step 12: Based on the current vehicle body width and the oncoming vehicle body width, determine the total vehicle body width between the current vehicle and the oncoming vehicle, and determine the minimum required passing width according to the total vehicle body width and the preset safe passing distance; Step 13: If the road width is greater than the minimum required passing width, it is determined that the current vehicle and the oncoming vehicle meet the safe passing conditions.

[0040] In step 11, the size information of the current vehicle can be written into the local storage space in advance, and then the size information can be read from the local storage space to obtain the current vehicle body width. In addition, the perception acquisition module of the current vehicle can be called to collect environmental information, so as to obtain the road width of the road where the current vehicle is located and the opposite vehicle body width of the opposite vehicle. It should be noted that the road width of the road where the current vehicle is located can be the width of the drivable road surface without obstacles.

[0041] Furthermore, in step 12, the current vehicle body width and the oncoming vehicle body width may be added to obtain a total vehicle body width for oncoming vehicles, and then based on the total vehicle body width and in combination with a preset safe oncoming distance, a minimum oncoming width requirement may be obtained.

[0042] Among them, the preset safe meeting distance can be a pre-set lateral safety distance for two vehicles to directly meet each other. Superimposing the preset safe meeting distance on the basis of the total vehicle body width can ensure the safety of vehicles directly meeting each other.

[0043] Furthermore, in step 13, the road width may be compared with the minimum required width for meeting other vehicles. If the road width is greater than the minimum required width for meeting other vehicles, it indicates that the current vehicle and the oncoming vehicle can meet directly at this time, and the safe meeting condition is met. Otherwise, it indicates that the road width is not enough for the two vehicles to meet directly at this time, and avoidance is required, and the safe meeting condition is not met.

[0044] Through the above steps 11 to 13, it is possible to determine whether the vehicles can directly and safely meet each other based on the current vehicle width, the width of the oncoming vehicle and the road width, thereby further ensuring the safety of the vehicles meeting each other.

[0045] It should be noted that if the current vehicle and the oncoming vehicle meet the safe passing conditions, the current vehicle and the oncoming vehicle can directly pass each other. Specifically, the current vehicle can be controlled to creep through, such as controlling the current vehicle to travel at a preset speed, and controlling the current vehicle and the oncoming vehicle to maintain a preset safe passing distance.

[0046] S120: If not, obtain the historical driving trajectory of the current vehicle, and control the current vehicle to reverse along the historical driving trajectory.

[0047] In an embodiment of the present application, if the current vehicle and the oncoming vehicle do not meet the safe passing conditions, the current vehicle can be controlled to avoid the oncoming vehicle.

[0048] Specifically, a target parking position may be searched for the current vehicle, and then the current vehicle may be controlled to travel to the target parking position to avoid an oncoming vehicle and allow the oncoming vehicle to pass.

[0049] The search for the target parking position needs to be searched behind the current vehicle, so the current vehicle can be controlled to reverse first, so as to search for the target parking position during the reverse driving process. In the embodiment of the present application, in order to save system memory, the historical driving track stored by the current vehicle can also be directly read, and then the vehicle can be backed up according to the stored historical driving track.

[0050] Taking into account the possibility that oncoming vehicles may give way first, in order to further ensure the efficiency of vehicle traffic, avoidance inquiry information can be displayed through the vehicle interface before obtaining the historical driving trajectory of the current vehicle and controlling the current vehicle to reverse along the historical driving trajectory. If a confirmation operation triggered by the user for the avoidance inquiry information is detected on the vehicle interface, the steps of obtaining the historical driving trajectory of the current vehicle and controlling the current vehicle to reverse along the historical driving trajectory are executed.

[0051] If a denial operation triggered by the user in response to the avoidance inquiry information is detected on the vehicle interface, or if no user-triggered operation is detected within a set time (such as 10 seconds), the current vehicle can be controlled to exit the meeting assistance mode.

[0052] S130. During the reverse driving of the current vehicle, a target parking position is determined based on the reverse environment perception information of the current vehicle, and the current vehicle is controlled to park based on the target parking position.

[0053] It should be noted that when the current vehicle is reversing, in order to avoid affecting the following vehicle or pedestrians as much as possible, a prompt sound can be issued through the external speaker of the current vehicle, and the double flash lights of the current vehicle can also be controlled to flash to remind the following vehicle or pedestrians to pay attention to safety. Taking into account that during the current vehicle's reversing process, there may be vehicles coming from behind or obstacles blocking the reversing, in such situations, the meeting assistance mode can be suspended first, waiting for manual intervention, and then the meeting assistance mode can be resumed after the processing is completed.

[0054] In a specific implementation, after controlling the current vehicle to reverse along the historical driving trajectory, the method further includes: During the reverse driving of the current vehicle, in response to detecting that there are other vehicles or obstacles on the historical driving trajectory behind the current vehicle, the current vehicle is controlled to terminate the meeting assist mode to stop the reverse driving of the current vehicle, and a mode pause prompt message is displayed on the vehicle interface; In response to detecting that other vehicles or obstacles located on the historical driving trajectory leave, the current vehicle is controlled to resume the vehicle-passing assist mode to continue controlling the current vehicle to reverse along the historical driving trajectory.

[0055] Among them, the perception and acquisition module of the current vehicle can be used to detect whether there are other vehicles or obstacles behind the current vehicle. If so, it will continue to determine whether the other vehicles or obstacles are located on the historical driving trajectory, that is, whether they will hinder the current vehicle from reversing along the historical driving trajectory. If so, the current vehicle can be controlled to terminate the meeting assistance mode to suspend the reversing driving. At the same time, the mode pause prompt information is displayed through the vehicle interface to remind the user to intervene and handle it in time.

[0056] Furthermore, the perception collection module of the current vehicle can continue to detect whether other vehicles or obstacles on the historical driving trajectory have left. If so, the current vehicle can be controlled to restore the meeting assist mode to continue reverse driving.

[0057] Through the above implementation mode, it is possible to detect in real time whether there are other vehicles or obstacles on the historical driving trajectory behind the current vehicle while the current vehicle is reversing along the historical driving trajectory, and to promptly suspend the meeting assistance mode when there are oncoming vehicles or obstacles blocking the reversing, prompting manual intervention and processing in a timely manner. After the oncoming vehicles or obstacles are eliminated, the meeting assistance mode can be restored, and the reverse driving can be continued to search for the target parking position, further improving the safety in the meeting scenario.

[0058] In an embodiment of the present application, while the current vehicle is reversing, a target parking position may be searched for the current vehicle in real time, wherein the target parking position may be a parking point of the current vehicle that enables an oncoming vehicle to pass safely.

[0059] Specifically, during the reverse driving of the current vehicle, the current vehicle's surrounding environment information can be collected in real time through the perception collection module of the current vehicle to obtain the reverse environment perception information.

[0060] Exemplarily, the perception acquisition module includes an ultrasonic radar, a millimeter-wave radar, a 360° high-definition surround-view camera, a side-view high-definition camera, and a rear-view camera. The perception acquisition module acquires the surrounding environment information of the current vehicle during the reversing process, that is, the reversing environment perception information, which may include the detection position of each environmental object, the detection position of each road obstacle, the road surface size, etc.

[0061] In the embodiment of the present application, the target parking position is determined based on the backing environment perception information, which may be input into a pre-trained parking point prediction model, wherein the parking point prediction model may be obtained based on big data training.

[0062] In a specific implementation, determining a target parking position based on the current vehicle's backing environment perception information includes the following steps: Step 21: determining the detection position of each environmental object, the detection position of each road obstacle and the road size in the reversing environment of the current vehicle based on the reversing environment perception information; Step 22: Determine a parking area for the current vehicle based on the detected positions of each environmental object, the detected positions of each road obstacle, and the road size; Step 23: Determine the target parking position according to the parking area and the width of the oncoming vehicle.

[0063] In step 21, the environmental objects include but are not limited to railings, walls, roadblocks, steps and other objects that affect the passage of vehicles in the reversing environment, and the road obstacles include but are not limited to motor vehicles, non-motor vehicles, pedestrians, stones, animals and other obstacles that affect the passage of vehicles on the road. Specifically, the detection position of each environmental object, the detection position of each road obstacle and the road size can be determined according to the reversing environment perception information.

[0064] Furthermore, in step 22, areas where there are no environmental objects or road obstacles can be screened out as parking areas based on the road surface size and the detected positions of various environmental objects and road obstacles.

[0065] Furthermore, in step 23, a position in the parking area that allows the oncoming vehicle to pass safely may be selected as the target parking position based on the parking area and the width of the oncoming vehicle body.

[0066] In the above steps 21 to 23, the parking area is determined based on the detected positions of environmental objects and road obstacles, as well as the size of the road surface, and then the target parking position is determined in combination with the width of the oncoming vehicle body. This can realize the determination of the avoidance parking point of the current vehicle, and then achieve safe avoidance of oncoming vehicles to ensure the safety of vehicle passage.

[0067] In an embodiment of the present application, after determining the target parking position, the current vehicle may be controlled to stop reverse driving first, and then the current vehicle may be directly controlled to perform automatic parking, so that the current vehicle parks at the target parking position; alternatively, the current vehicle may be controlled to stop reverse driving first, and then the user may be asked whether to park at the target parking position, and after the user confirms, the current vehicle may be controlled to perform automatic parking.

[0068] In a specific implementation, controlling the current vehicle to park based on the target parking position includes: Displaying parking prompt information for a target parking position on a vehicle computer interface; in response to detecting that a user triggers a confirmation operation for the parking prompt information in the vehicle computer interface, determining a parking path for the current vehicle based on the target parking position; and controlling the current vehicle to park according to the parking path.

[0069] Specifically, after determining the target parking position, parking prompt information for the target parking position can be displayed through the vehicle interface first, so that the user can confirm whether to park at this position.

[0070] Furthermore, if it is detected that the user triggers a confirmation operation for the parking prompt information in the vehicle interface, it means that the user confirms parking at this position, and then based on the target parking position, the current position of the current vehicle, the current heading angle of the current vehicle, the detection positions of various environmental objects, and the detection positions of various road obstacles, a parking path from the current position to the target parking position can be generated, wherein the parking path can be composed of one or more trajectories. Finally, the current vehicle can be controlled to park according to the parking path, so that the current vehicle parks at the target parking position and waits.

[0071] Through the above implementation, after the target parking position is determined, the parking prompt information can be first displayed through the vehicle interface for user confirmation, and then a parking path is generated after the user confirms. The current vehicle is controlled according to the parking path, which can further ensure the reliability of parking avoidance. When the oncoming vehicle avoids first or there is an error in the target parking position, direct parking can be avoided, thereby improving the efficiency and safety of vehicle passage.

[0072] Based on the above implementation, optionally, after the vehicle interface displays the parking prompt information for the target parking position, the method further includes: If it is not detected that the user has triggered a confirmation operation for the parking prompt information in the vehicle interface, or if it is detected that the user has triggered a position update operation for the parking prompt information in the vehicle interface, then the process returns to the step of controlling the current vehicle to reverse along the historical driving trajectory to redetermine the target parking position.

[0073] Specifically, after the parking prompt information is displayed through the vehicle interface, if the user is not detected to trigger a confirmation operation in the vehicle interface, or if the user is detected to trigger a position update operation in the vehicle interface, the vehicle can continue to be controlled to reverse, and the target parking position can be re-determined based on the reverse environment perception information during the reverse driving of the current vehicle. Through the above implementation, the parking position can be re-planned, and the current vehicle can be parked at a position that satisfies the user as much as possible, ensuring the safety of the vehicle passing.

[0074] In the embodiment of the present application, in order to avoid constantly determining the target parking position, a cutoff condition can also be set for the above steps. For example, if the number of times the target parking position is determined reaches a certain value, or the distance of reverse driving reaches a certain value, the determination of the target parking position for the current vehicle can be stopped, and the meeting assistance mode can be directly exited. Based on the above implementation, optionally, the method provided in the embodiment of the present application also includes: In response to detecting that the number of times the target parking position is determined reaches a preset number, or that the reverse driving distance of the current vehicle reaches a preset distance, the current vehicle is controlled to exit the meeting assist mode, and the mode exit notification information is displayed on the vehicle interface.

[0075] The preset number of times may be a preset number of times for reversing to determine the parking position, such as 5 times; the preset distance may be a preset distance for reversing to determine the parking position, such as 2 km.

[0076] Specifically, if the number of target parking positions reaches a preset number, it means that the number of target parking positions determined at this time has reached a threshold. At this time, there is no need to continue to determine the target parking position, and the current vehicle can be controlled to exit the meeting assistance mode to allow the user to take over the vehicle.

[0077] Alternatively, if the reverse driving distance of the current vehicle reaches a preset distance, it means that the reverse driving distance is long enough, and the target parking position may not be found for a long time or the searched target parking position has not been confirmed by the user. At this time, there is no need to continue to determine the target parking position, and the current vehicle can be controlled to exit the meeting assistance mode to allow the user to take over the vehicle.

[0078] Furthermore, while controlling the current vehicle to exit the meeting assist mode, a mode exit notification message can also be displayed through the vehicle interface to prompt the user to turn off the meeting assist mode. Through the above implementation, repeated determination of the target parking position can be avoided, and the memory occupied by the system can be reduced.

[0079] The vehicle meeting control method provided in the embodiment of the present application, in response to the current vehicle entering the meeting assistance mode, determines whether the current vehicle and the oncoming vehicle meet the safe meeting conditions. If not, the historical driving trajectory of the current vehicle is obtained, and the current vehicle is controlled to reverse along the historical driving trajectory. During the reverse driving of the current vehicle, the target parking position is determined according to the reversing environment perception information of the current vehicle, so that the current vehicle is controlled to park according to the target parking position, which can achieve avoidance of the oncoming vehicle in the meeting scenario. When the safe meeting conditions are not met, the method determines a safe position through the reversing environment perception information during the reversing driving process, so that the vehicle avoidance is achieved by parking the current vehicle at a safe position, which can solve the risk of vehicle scratches in the meeting scenario in the prior art and ensure the safety of vehicle driving. In addition, the method can park based on the target parking position without frequent manual adjustment of the vehicle position, thereby improving the efficiency of vehicle passage in the meeting scenario. In addition, the method controls the vehicle to reverse along the historical driving trajectory without additionally generating the reversing trajectory of the vehicle, which can reduce the memory occupied by the system and further improve the efficiency of vehicle passage in the meeting scenario.

[0080] Figure 2 is a logic diagram of a vehicle meeting control method provided by an embodiment of the present application, such as Figure 2As shown, first, the driver can confirm whether to turn on the meeting assistance mode. If so, determine whether the activation conditions are met, such as whether the component status of each preset collection component is normal. If the activation conditions are met, a pop-up window can be displayed for confirmation. If the activation conditions are not met, the meeting assistance mode can be exited directly.

[0081] If confirmed by the user, the vehicle can enter the meeting assistance mode, calculate the width of the road and the width of the oncoming vehicle, and determine whether the lateral distance meets the safety conditions for passing the vehicle safely. If so, the double flash can be used to remind the other driver that he can pass. If not, the vehicle can be reversed according to the track and find a suitable position as the target parking position. After finding a suitable avoidance position, the user can confirm whether to park in. It should be noted that the reversing process can collect and perceive the surrounding and external environment and road conditions in real time, recommend blank positions when a suitable position appears after calculation, and then park in the specific implementation process after confirmation, including but not limited to the method of repeatedly advancing and retreating vehicles that may occur in the process to collect accurate data.

[0082] If the user confirms parking, the car can be automatically parked according to the planned position and determine whether the parking is completed. If parking is completed, the double flashes will remind the other driver that they can pass. If parking is not completed, the car can return to continue parking and determine whether the parking is completed.

[0083] It should be noted that in the above process, it is possible to detect in real time whether the current vehicle is in a safe meeting position. If so, the meeting assistance mode can be directly exited. In addition, during the reverse tracking process, the historical driving trajectory followed can be recorded by the roof laser radar and the body high-definition camera.

[0084] The method provided in the embodiment of the present application can effectively solve the problems in the meeting scene, locate reliable parking paths and solutions through real-time perception and calculation, improve driving safety and road traffic efficiency, and reduce driver tension and fatigue. Using this method, safety and traffic efficiency can be improved in some narrow road conditions or specific scenes that cannot be judged by the human eye, and the driver can be assisted in making the best driving decision and improving the driving experience. In addition, the intelligent driving level of the vehicle can be improved. Through big data training of meeting scenes and continuous optimization of data, the intelligent driving level of the vehicle can be continuously enhanced.

[0085] The embodiment of the present application also provides a vehicle meeting control system, which includes a perception acquisition module, an intelligent driving domain controller, a vehicle computer, and a vehicle driving and steering module. Among them, the perception acquisition module includes an ultrasonic radar, a millimeter wave radar, a 360° high-definition surround camera, a side-view high-definition camera, and a rear-view camera; the vehicle driving and steering module includes a vehicle controller, a steering controller, a body controller, and connected components and mechanical actuators.

[0086] like Figure 3 As shown, Figure 3 This is a control flow chart of a vehicle meeting control system provided by an embodiment of the present application. Among them, the vehicle computer can obtain the instruction to start the meeting mode, and the intelligent driving domain controller periodically obtains the status of sensors and cameras, as well as the vehicle fault status, vehicle speed status, and gear status, and comprehensively processes logic to determine whether to enter the meeting assistance mode. If the meeting assistance mode is entered, the intelligent driving domain controller can call the perception acquisition module to obtain external environment data, calculate the road width, the body width of the oncoming vehicle and other information, and determine whether the safe meeting conditions are met.

[0087] Furthermore, if the safe passing conditions are not met, the current vehicle needs to be controlled to reverse and avoid the vehicle. The intelligent driving domain controller can send instructions to call the steering controller and the vehicle dynamic control module to control the current vehicle to reverse according to the stored historical driving trajectory; during the reversing process, the perception collection module is called to collect the reversing environment perception information, and the road surface in the reversing environment is compared and matched with the planned parking space information. If the required parking space information is matched, the target parking position can be obtained, and a pop-up window will be sent to the vehicle computer to request the driver to confirm.

[0088] Furthermore, after obtaining confirmation from the vehicle computer, the intelligent driving domain controller can call the parking control module in the vehicle drive steering module to park according to the target parking position and the corresponding parking path, and after parking is completed, the vehicle computer pops up a prompt, and at the same time controls the body controller to flash the lights (such as switching between high and low beams once) to prompt the driver of the oncoming vehicle to pass. In addition, during the parking process, the real-time position of the vehicle environment can continue to be detected to obtain external environment data to provide data support for automatic parking.

[0089] The vehicle meeting control system provided in the embodiment of the present application can execute the steps in the vehicle meeting control method provided in the method embodiment of the present application, and the execution steps and beneficial effects are no longer repeated here.

[0090] Figure 4 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown, the electronic device 400 includes one or more processors 401 and a memory 402 .

[0091] The processor 401 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.

[0092] The memory 402 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 401 may run the program instructions to implement the vehicle meeting control method of any embodiment of the present application described above and / or other desired functions. Various contents such as initial external parameters, thresholds, etc. may also be stored in the computer-readable storage medium.

[0093] In one example, the electronic device 400 may further include: an input device 403 and an output device 404, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown). The input device 403 may include, for example, a keyboard, a mouse, etc. The output device 404 may output various information to the outside, including early warning prompt information, braking force, etc. The output device 404 may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0094] Of course, to simplify, Figure 4 Only some of the components related to the present application in the electronic device 400 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 400 may also include any other appropriate components.

[0095] In addition to the above methods and devices, the embodiments of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the vehicle meeting control method provided by any embodiment of the present application.

[0096] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0097] In addition, the embodiments of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the vehicle meeting control method provided by any embodiment of the present application.

[0098] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0099] It should be noted that the terms used in this application are only for describing specific embodiments, rather than limiting the scope of this application. As shown in the specification and claims of this application, unless the context clearly indicates an exception, the words "one", "a", "a kind of" and / or "the" do not specifically refer to the singular, but may also include the plural. The terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method or device including the elements.

[0100] It should also be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0101] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the invention to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A vehicle meeting control method, characterized in that: include: In response to the current vehicle entering the meeting assistance mode, determining whether the current vehicle and the oncoming vehicle meet a safe meeting condition; If not, obtaining the historical driving trajectory of the current vehicle, and controlling the current vehicle to reverse along the historical driving trajectory; During the reverse driving of the current vehicle, a target parking position is determined based on the reverse environment perception information of the current vehicle, and the current vehicle is controlled to park based on the target parking position.

2. The method according to claim 1, characterized in that The method further comprises: In response to a vehicle-meeting mode start instruction, obtaining a component status of each preset acquisition component in the current vehicle; If the component states of all preset collection components are in normal states, the current vehicle is controlled to enter a meeting assist mode.

3. The method according to claim 2, characterized in that After controlling the current vehicle to enter the vehicle-passing assistance mode, the method further includes: In response to detecting that a user rotates the steering wheel or a user triggers a preset button combination in the steering wheel, controlling the current vehicle to exit the meeting assist mode; and / or, In response to detecting that a brake pedal or an accelerator pedal is triggered by a user, the current vehicle is controlled to exit the meeting assist mode.

4. The method according to claim 1, characterized in that: Determining whether the current vehicle and the oncoming vehicle meet safe passing conditions includes: Obtaining the current body width of the current vehicle, the road width of the road where the current vehicle is located, and the oncoming body width of the oncoming vehicle; Based on the current vehicle body width and the oncoming vehicle body width, determining the total vehicle body width for meeting the current vehicle and the oncoming vehicle, and determining the minimum required meeting width according to the total vehicle body width and a preset safe meeting distance; If the road width is greater than the minimum required passing width, it is determined that the current vehicle and the oncoming vehicle meet a safe passing condition.

5. The method according to claim 1, characterized in that: Determining a target parking position based on the reversing environment perception information of the current vehicle includes: Determine, based on the reversing environment perception information, the detection position of each environmental object in the reversing environment of the current vehicle, the detection position of each road obstacle, and the road surface size; Determining a parking area for the current vehicle based on the detected positions of the environmental objects, the detected positions of the road obstacles, and the road size; A target parking position is determined according to the parking area and the oncoming vehicle body width.

6. The method according to claim 1, characterized in that Controlling the current vehicle to park based on the target parking position includes: Displaying parking reminder information for the target parking location on the vehicle interface; In response to detecting that a user triggers a confirmation operation for the parking prompt information in the vehicle interface, determining a parking path for the current vehicle based on the target parking position; The current vehicle is controlled to park according to the parking path.

7. The method according to claim 6, characterized in that After the vehicle interface displays the parking prompt information for the target parking position, it also includes: If it is not detected that the user triggers a confirmation operation for the parking prompt information in the vehicle-machine interface, or if it is detected that the user triggers a position update operation for the parking prompt information in the vehicle-machine interface, then the step of controlling the current vehicle to reverse along the historical driving trajectory is returned to redetermine the target parking position.

8. The method according to claim 7, characterized in that The method further comprises: In response to detecting that the number of times the target parking position is determined reaches a preset number, or the reverse driving distance of the current vehicle reaches a preset distance, the current vehicle is controlled to exit the meeting assistance mode, and mode exit notification information is displayed on the vehicle interface.

9. The method according to claim 1, characterized in that: After controlling the current vehicle to reverse along the historical driving trajectory, the method further includes: During the reverse driving of the current vehicle, in response to detecting that there are other vehicles or obstacles on the historical driving track behind the current vehicle, controlling the current vehicle to terminate the meeting assist mode to stop the reverse driving of the current vehicle, and displaying a mode pause prompt message on the vehicle interface; In response to detecting that other vehicles or obstacles on the historical driving trajectory leave, the current vehicle is controlled to resume the meeting assist mode to continue controlling the current vehicle to reverse along the historical driving trajectory.

10. An electronic device, characterized in that: The electronic device comprises: Processor and memory; The processor is used to execute the steps of the vehicle meeting control method as claimed in any one of claims 1 to 9 by calling the program or instruction stored in the memory.

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