Control method and device for avoiding vehicles in same direction and vehicle

Abstract

The invention relates to the technical field of vehicle automatic driving, and provides a control method for avoiding vehicles in the same direction, and the control method comprises the steps: determining a target vehicle in the same direction as the vehicle based on vehicle perception information and environment map information; determining an avoidance strategy of the vehicle based on the relative position of the target vehicle and the vehicle and the driving information of the target vehicle; controlling the vehicle to run according to the avoidance strategy; wherein under the condition that the number of the target vehicles is multiple, the execution sequence of the avoidance strategies is coordinated according to the processing sequence of the multiple target vehicles. By integrating the vehicle sensing information and the environmental map information, the target vehicle running in the same direction can be accurately identified, and an avoidance strategy is intelligently formulated. Meanwhile, for the condition that a plurality of target vehicles exist, the execution sequence of the avoidance strategy can be coordinated, the continuity of the driving decision is ensured, and the driving conflict possibly caused by independently processing each target vehicle is avoided. The invention further discloses a control device for avoiding the vehicles in the same direction and the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle automatic driving technology, for example, to a control method and device, and a vehicle for avoiding same-direction vehicles. Background Art

[0002] With the advancement of science and technology, autonomous vehicles are increasingly receiving widespread attention. Current autonomous driving technology, especially in the application of garage environments, can provide corresponding processing strategies for vehicles traveling in the same direction, such as avoiding the following vehicles. However, this discrete processing method exposes its limitations in actual driving, because in a changeable and complex traffic environment, vehicle behavior is usually continuous. For example, the rear vehicle may cut into the same lane after overtaking the vehicle and continue driving. Only avoiding operations for the rear vehicle cannot ensure the smoothness of autonomous driving and the comfort of riding, which may lead to unstable vehicle driving and reduced user experience.

[0003] The prior art provides a method and device for improving the rear traffic of a vehicle, which can identify the overtaking intention of the rear vehicle and control the vehicle to perform an evasive maneuver while maintaining the current lane, thereby providing overtaking space for the rear vehicle. This method improves the processing intelligence of the autonomous vehicle and maintains traffic order by minimizing lateral movement.

[0004] In the process of implementing the embodiments of the present disclosure, it is found that there are at least the following problems in the related art:

[0005] Although the relevant patent method has enhanced the processing capabilities of autonomous vehicles to a certain extent, it has failed to fully consider the complexity of vehicle driving behavior and has difficulty in dealing with the continuous actions of multiple target vehicles. This may affect the stability of the vehicle during autonomous driving and thus reduce the user experience.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0007] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0008] The embodiments of the present disclosure provide a control method and device, and a vehicle for avoiding same-direction vehicles, so as to improve the vehicle stability during the automatic driving process, thereby improving the user experience.

[0009] In some embodiments, the control method for avoiding same-direction vehicles includes: determining a target vehicle traveling in the same direction as the vehicle based on vehicle perception information and environmental map information; determining the avoidance strategy of the vehicle based on the relative position of the target vehicle and the vehicle and the driving information of the target vehicle; controlling the driving of the vehicle according to the avoidance strategy; wherein, in the case where there are multiple target vehicles, coordinating the execution order of the avoidance strategy according to the processing order between the multiple target vehicles.

[0010] In this way, by integrating vehicle perception information and environmental map information, it can accurately identify target vehicles traveling in the same direction, and intelligently formulate avoidance strategies based on the driving information of the target vehicles, and control vehicle driving according to the strategies. At the same time, in the case of multiple target vehicles, the execution order of the avoidance strategies can be coordinated to ensure the consistency of driving decisions and avoid driving conflicts that may be caused by handling each target vehicle separately.

[0011] Optionally, the avoidance strategy of the vehicle is determined based on the relative position of the target vehicle and the vehicle and the driving information of the target vehicle, including: determining a classification result of the target vehicle based on the relative position of the target vehicle and the vehicle; the classification result includes a front target, and / or a side target, and / or a rear target; obtaining the driving information of the target vehicle, the driving information including the relative speed of the target vehicle and the vehicle, and / or the longitudinal distance between the target vehicle and the vehicle, and / or the lateral distance between the target vehicle and the vehicle, and / or the driving speed of the target vehicle, and / or the lane where the target vehicle is located; the avoidance strategy of the vehicle is determined according to the classification result and driving information of the target vehicle; wherein the front target is a vehicle target in the same direction located in front of the vehicle in the driving direction; the side vehicle is a vehicle target in the same direction located on the side of the vehicle; and the rear target is a vehicle target in the same direction located behind the vehicle in the driving direction.

[0012] According to the above technical means, based on the classification results and driving information of the target vehicle, the system can customize personalized avoidance strategies for different types of target vehicles, thereby optimizing the driving route of the vehicle. By analyzing the relative position of the target vehicle and the vehicle, the system can accurately classify the target vehicle into front targets, side targets and rear targets. This classification helps to formulate avoidance strategies more finely and improve the accuracy of driving decisions. The driving information obtained in the scheme includes relative speed, longitudinal distance, lateral distance, driving speed and the lane where the target vehicle is located. The comprehensive analysis of this information provides rich data support for the formulation of avoidance strategies. By classifying the target vehicles, various scenarios are connected in series, which not only ensures that reasonable responses are taken for vehicles in the same direction in the single scenario behind, on the side and in front of the vehicle, but also ensures that the vehicle can drive smoothly during the dynamic change of the position of the same vehicle relative to the vehicle.

[0013] Optionally, the order of executing the avoidance strategies is coordinated according to the processing order among the multiple target vehicles, including: sorting the multiple target vehicles belonging to different categories according to a pre-set processing order to determine the processing priority of each target vehicle relative to other target vehicles; determining the execution order of the avoidance strategies corresponding to the multiple target vehicles according to the processing priority; wherein the pre-set processing order includes the order that the front target takes precedence over the side target, and the side target takes precedence over the rear target.

[0014] According to the above technical means, when there are vehicles in front, on the side, and behind at the same time, the appropriate decision can be selected in the set order to respond. When following the vehicle in front, the side and rear targets can also be avoided to ensure the safety and comfort of autonomous driving.

[0015] Optionally, the avoidance strategy of the vehicle is determined based on the classification result and driving information of the target vehicle, including: when the target vehicle includes a front target, the following avoidance strategy of the vehicle is determined based on the longitudinal distance between the target vehicle and the vehicle, and / or the driving speed of the target vehicle; and / or, when the target vehicle includes a side target, the cutting-in avoidance strategy of the vehicle is determined based on the lateral distance between the target vehicle and the vehicle, and / or the driving speed of the target vehicle; when the target vehicle includes a rear target, the overtaking avoidance strategy of the vehicle is determined based on the lane where the target vehicle is located, and / or the lateral distance between the target vehicle and the vehicle, and / or the longitudinal distance between the target vehicle and the vehicle.

[0016] Based on the above technical means, by formulating avoidance strategies for target vehicles in front, on the side and behind, efficient, safe and comfortable driving of autonomous vehicles in complex traffic environments is achieved. Reasonable avoidance strategies make the driving of autonomous vehicles smoother, reduce sudden braking or acceleration, and thus improve the user's driving experience.

[0017] Optionally, the following vehicle avoidance strategy includes: if the longitudinal distance between the target vehicle and the vehicle is less than a first set distance, and the target vehicle's driving speed is greater than or equal to a first speed threshold, the vehicle enters a following vehicle state; takes the lane lines on both sides of the road where the vehicle is located as decision boundaries, plans a local path within the decision boundaries, and follows the target vehicle; and / or, if the target vehicle's driving speed is less than a second speed threshold for a duration greater than a first set duration, the vehicle enters a lane change and obstacle avoidance state; bypasses the target vehicle; and / or, if the longitudinal distance between the target vehicle and the vehicle is greater than the first set distance, the vehicle exits the following vehicle state.

[0018] Optionally, the cut-in avoidance strategy includes: if the target vehicle's driving speed is greater than the vehicle's driving speed, and the lateral distance between the target vehicle and the vehicle shows a decreasing trend within a second set time period, the vehicle enters a cut-in avoidance state; obtaining the target vehicle's collision detection result, and controlling the vehicle to decelerate if there is a collision risk.

[0019] Optionally, the overtaking and avoidance strategy includes: determining the lane position relationship between the target vehicle and the vehicle in the global path direction; if the target vehicle is located in the lane behind the left of the vehicle, determining whether the vehicle enters the left avoidance state according to the target vehicle's driving speed, the lateral distance between the target vehicle and the vehicle, and the longitudinal distance between the target vehicle and the vehicle; if the target vehicle is located in the lane behind the right of the vehicle, determining whether the vehicle enters the right avoidance state according to the lane where the vehicle is located.

[0020] Optionally, determining a target vehicle traveling in the same direction as the vehicle based on vehicle perception information and environmental map information includes: determining a global path corresponding to a current driving task based on environmental map information, the global path including a driving trajectory of the vehicle from a starting point to an end point; obtaining information on driving vehicles on the current road based on vehicle perception information; and taking a driving vehicle whose moving direction is consistent with the direction of a matching point of the vehicle on the global path as a target vehicle traveling in the same direction.

[0021] Based on the above technical means, by integrating environmental map information and vehicle perception information, accurate identification of target vehicles in the same direction is achieved, providing a safer, more accurate and comfortable driving experience for autonomous vehicles.

[0022] In some embodiments, the control device for avoiding same-direction vehicles includes: a perception module, configured to determine a target vehicle in the same direction as the vehicle based on vehicle perception information and environmental map information; a decision module, configured to determine the avoidance strategy of the vehicle based on the relative position of the target vehicle and the vehicle and the driving information of the target vehicle; a control module, configured to control the driving of the vehicle according to the avoidance strategy; wherein, in the case where there are multiple target vehicles, the decision module is further configured to coordinate the execution order of the avoidance strategy according to the processing order between the multiple target vehicles.

[0023] In some embodiments, the control device for avoiding same-direction vehicles includes a processor and a memory storing program instructions, and the processor is configured to execute the control method for avoiding same-direction vehicles as described above when running the program instructions.

[0024] In some embodiments, the vehicle includes: a vehicle body; the above-mentioned control device for avoiding vehicles in the same direction is installed on the vehicle body.

[0025] The control method, device, and vehicle for same-direction vehicle avoidance provided by the embodiments of the present disclosure can achieve the following technical effects:

[0026] This solution accurately identifies target vehicles traveling in the same direction by integrating vehicle perception information and environmental map information, and intelligently formulates avoidance strategies based on the target vehicles, and controls vehicle driving according to the strategies. At the same time, in the case of multiple target vehicles, the execution order of the avoidance strategies can be coordinated to ensure the consistency of driving decisions and avoid driving conflicts that may be caused by dealing with each target vehicle separately. In this way, the avoidance strategy formulated by this solution can adapt to more complex traffic environments. It improves the intelligent decision-making ability of the autonomous driving mode when dealing with multiple target vehicles, reflecting the efficiency and advancement of the system. At the same time, it improves the safety of autonomous driving, and optimizes the smoothness of driving and the consistency of decision-making. As a result, the user experience is significantly improved, ensuring the safety and comfort of autonomous driving.

[0027] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0029] Figure 1 is a flow chart of a control method for avoiding vehicles in the same direction provided by an embodiment of the present disclosure;

[0030] Figure 2 is a flow chart of another control method for avoiding vehicles in the same direction provided by an embodiment of the present disclosure;

[0031] Figure 3 is a flow chart of another control method for avoiding vehicles in the same direction provided by an embodiment of the present disclosure;

[0032] Figure 4 is a flow chart of another control method for avoiding vehicles in the same direction provided by an embodiment of the present disclosure;

[0033] Figure 5 is a flow chart of another control method for avoiding vehicles in the same direction provided by an embodiment of the present disclosure;

[0034] Figure 6 is a schematic diagram of a control device for avoiding vehicles in the same direction provided by an embodiment of the present disclosure;

[0035] Figure 7is a schematic diagram of another control device for avoiding vehicles in the same direction provided by an embodiment of the present disclosure;

[0036] Figure 8 is a global path schematic diagram in the automatic driving mode in an embodiment of the present disclosure;

[0037] Fig. 9 is a schematic diagram of the vehicle following a target ahead in the embodiment of the present disclosure;

[0038] Fig.10 is a schematic diagram of the vehicle cutting in to avoid a side target in an embodiment of the present disclosure;

[0039] Fig.11 is a schematic diagram of the vehicle avoiding a target behind its left side on the left side in an embodiment of the present disclosure;

[0040] Fig.12 is a schematic diagram of the vehicle avoiding a target behind it on the right in an embodiment of the present disclosure;

[0041] Fig.13 is another schematic diagram of the vehicle avoiding a target behind its left side in another embodiment of the present disclosure;

[0042] Fig.14 It is a schematic diagram of the vehicle avoiding the front and side targets in the disclosed embodiment. DETAILED DESCRIPTION

[0043] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0044] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0045] Unless otherwise stated, the term "plurality" means two or more.

[0046] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0047] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0048] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.

[0049] This solution is applied to the automatic driving mode of the vehicle, and the application scenario of this automatic driving mode is a driving scenario in which the environmental map is memorized in advance, such as a parking lot based on the vehicle's home memory for automatic parking. When in use, the user needs to establish an environmental map of the parking lot in advance and store the route for driving the vehicle to a fixed parking space. This step can be recorded and saved by the vehicle's automatic driving system during driving. After the environmental map is successfully established, the user can activate this function at any location on the route, and the vehicle will automatically drive to a fixed parking space for parking. The control method for same-direction vehicle avoidance proposed in this solution is used to avoid target vehicles traveling in the same direction as the vehicle on the road in the parking lot during driving in such scenarios.

[0050] Figure 1 It is a flow chart of a control method for avoiding same-direction vehicles provided in an embodiment of the present disclosure.

[0051] like Figure 1 As shown, the control method includes:

[0052] Step S101, based on the vehicle perception information and the environment map information, determine the target vehicle in the same direction as the vehicle.

[0053] Vehicle perception information refers to the vehicle information in the surrounding environment collected and acquired through vehicle-mounted sensors. Vehicle-mounted sensors may include radar, camera, infrared sensor, etc.; vehicle information may include the relative position of the vehicle and the host vehicle, vehicle speed, etc.

[0054] Environmental map information refers to a pre-established environmental map that is consistent with the current application scenario. In this embodiment, the environmental map information may be a route map of the parking lot where the vehicle is located, including the fixed parking space of the vehicle.

[0055] Here, by fusing the environmental map information with the vehicle perception information, the motion state of the vehicle in the current environment is analyzed using a data processing algorithm, so as to match a target vehicle traveling in the same direction as the vehicle.

[0056] Step S102, based on the relative position of the target vehicle and the vehicle and the driving information of the target vehicle, determine the avoidance strategy of the vehicle; where, in the case where there are multiple target vehicles, the execution order of the avoidance strategy is coordinated according to the processing order among the multiple target vehicles.

[0057] The relative position of the target vehicle and the host vehicle may include the orientation of the target vehicle relative to the host vehicle in the current driving environment, and may also include the longitudinal distance and lateral distance of the target vehicle relative to the host vehicle. The driving information of the target vehicle includes the driving speed, current driving road, driving intention, etc. The relative position of the target vehicle and the host vehicle may be a relatively static position, such as continuously maintaining the position relationship between the front vehicle and the rear vehicle; or it may be a position that changes dynamically within a certain period of time, such as the target vehicle overtaking from the rear of the host vehicle, and its relative position to the host vehicle includes changes in the rear, side, and front. When there are multiple target vehicles, they can be prioritized according to the processing order between the multiple target vehicles, so as to obtain a coordination mechanism to ensure that the execution order of the avoidance strategy is reasonable and efficient in the case of multiple target vehicles.

[0058] Step S103, controlling the vehicle to travel according to the avoidance strategy.

[0059] In this way, by integrating vehicle perception information and environmental map information, the target vehicle traveling in the same direction can be accurately identified, and an avoidance strategy can be intelligently formulated according to the target vehicle, and the vehicle can be controlled according to the strategy. At the same time, in the case of multiple target vehicles, the execution order of the avoidance strategy can be coordinated to ensure the consistency of driving decisions and avoid driving conflicts that may be caused by dealing with each target vehicle separately. In this way, the avoidance strategy formulated by this solution can adapt to more complex traffic environments. The intelligent decision-making ability of the autonomous driving mode when dealing with multiple target vehicles is improved, reflecting the efficiency and advancement of the system. At the same time, the safety of autonomous driving is improved, and the smoothness of driving and the consistency of decision-making are optimized. The user experience is therefore significantly improved, ensuring the safety and comfort of autonomous driving.

[0060] Optionally, based on the relative position of the target vehicle and the vehicle and the driving information of the target vehicle, determining the avoidance strategy of the vehicle includes:

[0061] Based on the relative position of the target vehicle and the host vehicle, a classification result of the target vehicle is determined; the classification result includes a front target, and / or a side target, and / or a rear target;

[0062] Acquire driving information of the target vehicle, the driving information including the relative speed between the target vehicle and the host vehicle, and / or the longitudinal distance between the target vehicle and the host vehicle, and / or the lateral distance between the target vehicle and the host vehicle, and / or the driving speed of the target vehicle, and / or the lane where the target vehicle is located;

[0063] Determine the avoidance strategy of the vehicle based on the classification result and driving information of the target vehicle;

[0064] Among them, the front target is the vehicle target in the same direction located in front of the vehicle in the driving direction; the side vehicle is the vehicle target in the same direction located on the side of the vehicle; the rear target is the vehicle target in the same direction located behind the vehicle in the driving direction.

[0065] In this way, according to the classification results and driving information of the target vehicles, the system can customize personalized avoidance strategies for different types of target vehicles, thereby optimizing the driving route of the vehicle. By analyzing the relative position of the target vehicle and the vehicle, the system can accurately classify the target vehicle into front targets, side targets and rear targets. This classification helps to formulate avoidance strategies more finely and improve the accuracy of driving decisions. The driving information obtained in the scheme includes relative speed, longitudinal distance, lateral distance, driving speed and the lane where the target vehicle is located. The comprehensive analysis of this information provides rich data support for the formulation of avoidance strategies. By classifying the target vehicles, various scenarios are connected in series, which not only ensures that reasonable responses are taken for vehicles in the same direction in the single scenario behind, to the side and in front of the vehicle, but also ensures that the vehicle can drive smoothly during the dynamic change of the position of the same vehicle relative to the vehicle.

[0066] Optionally, based on the vehicle perception information and the environment map information, determining a target vehicle moving in the same direction as the vehicle includes:

[0067] Based on the environmental map information, determine the global path corresponding to the current driving task, the global path includes the driving trajectory of the vehicle from the starting point to the end point;

[0068] According to the vehicle perception information, the information of the vehicles on the current road is obtained;

[0069] The vehicle whose moving direction is consistent with the matching point of the vehicle on the global path is regarded as the target vehicle in the same direction.

[0070] In this way, the vehicle targets on the road are preprocessed by combining the environment map information and the perception information. The global path refers to the driving path from the starting point to the end point based on which the vehicle uses the automatic driving function in the garage. The global path is usually in the right lane and consists of multiple coordinate points, such as Figure 8As shown. Among them, the solid line is the lane map of the current driving environment, HV is the vehicle, the arrow indicates the direction of travel of the vehicle, the black dashed line separates the lane into the same direction lane of the vehicle and the opposite direction lane of the vehicle, and the gray dotted line is the global path of the vehicle in the lane. Here, the vehicle targets on the road are preprocessed: according to the position of the vehicle target identified by the vehicle perception information and the coordinate information of the global path given by the environmental map information, the matching point corresponding to each vehicle target on the global path is calculated, and then the target with the same moving direction as the matching point direction of the vehicle on the global path is screened out as the same direction target. In this way, when determining the classification result of the target vehicle based on the relative position of the target vehicle and the vehicle, the classification results of the front target, the side target and the rear target can be obtained according to the position of the matching point of the target vehicle on the global path, so as to realize the separate processing of the front target, the side target and the rear target.

[0071] Figure 2 The flowchart of a control method for same-direction vehicle avoidance provided by an embodiment of the present disclosure is used to explain how to control the vehicle to avoid a vehicle in the same direction when the target vehicle includes the vehicle in front.

[0072] like Figure 2 As shown, the control method includes:

[0073] Step S201, based on the vehicle perception information and the environment map information, determine the target vehicle in the same direction as the vehicle.

[0074] Step S202, determining the classification result of the target vehicle based on the relative position of the target vehicle and the host vehicle.

[0075] Step S203, when the classification result of the target vehicle includes the front target, the vehicle following avoidance strategy of the vehicle is determined according to the longitudinal distance between the target vehicle and the vehicle, and / or the driving speed of the target vehicle.

[0076] Step S204: If the longitudinal distance between the target vehicle and the vehicle is less than the first set distance, and the target vehicle's driving speed is greater than or equal to the first speed threshold, the vehicle enters the following state; the lane lines on both sides of the road where the vehicle is located are used as decision boundaries, and a local path is planned within the decision boundaries to follow the target vehicle.

[0077] Here, the first set distance is used to indicate the safe distance for following a vehicle. In this embodiment, the first set distance is 25m. The first speed threshold is used to indicate the slowest safe speed for following a vehicle. In this embodiment, the first speed threshold is greater than 0. The target ahead is a vehicle in the lane where the global path of the vehicle is located. If the distance between the vehicle and the target on the global path is less than the first set distance and the driving speed is greater than or equal to the first speed threshold, the vehicle enters the following state.

[0078] Fig. 9 The schematic diagram of the vehicle following the target in front of the vehicle in this state is shown. When there are multiple vehicles in front of the vehicle, the vehicle with the shortest distance to the vehicle on the global path is followed as the target in front.

[0079] In this state, the vehicle keeps driving in the lane where the global path is located, and uses the lane lines on both sides of the lane as decision boundaries, and only plans a local path within the lane lines on both sides. It follows the target vehicle and adjusts the vehicle speed according to the speed of the target vehicle and the distance from the vehicle to ensure that the distance between the vehicle and the target vehicle is within the safe distance for following the vehicle.

[0080] Step S205: If the target vehicle's driving speed is less than the second speed threshold for a duration greater than a first set duration, the vehicle enters a lane-changing obstacle-avoiding state and drives around the target vehicle.

[0081] Here, the second speed threshold is used to indicate the target vehicle's driving speed when it enters abnormal slow driving or stops. In this embodiment, the second speed threshold is 0. The first set time length is used to indicate the waiting time length when the target vehicle is driving slowly or stops. In this embodiment, the first set time length is 3s.

[0082] When entering the following state or the normal driving state, if the target vehicle ahead is detected to be driving slowly or slowing down and braking, the vehicle will also slow down until it stops and wait for the target vehicle to continue driving. If the target vehicle is still stationary (i.e., the driving speed is less than 0) after waiting for the first set time, the vehicle enters the lane change and obstacle avoidance state, or the vehicle exits the following state and enters the lane change and obstacle avoidance state. In this state, the vehicle bypasses the obstacle vehicle and continues to drive. If the target vehicle continues to drive within the first set time, the vehicle maintains the following state, or the vehicle maintains the normal driving state.

[0083] Step S206: If the longitudinal distance between the target vehicle and the vehicle is greater than the first set distance, the vehicle exits the following state and maintains normal cruising. In this way, the vehicle can dynamically make a following vehicle avoidance decision based on different driving information of the target ahead and under different driving states.

[0084] Step S207, controlling the vehicle to travel according to the avoidance strategy.

[0085] Here, by monitoring the longitudinal distance and speed and formulating the following or lane-changing obstacle-avoiding strategies accordingly, the dynamic changes of the vehicle ahead are effectively dealt with, and the driving safety and efficiency of the autonomous vehicle in various traffic conditions are improved. By entering the following state under appropriate distance and speed conditions, unnecessary emergency braking is reduced and riding comfort is improved. At the same time, planning local paths within the decision boundary helps maintain the stability and continuity of the traffic flow. In addition, reasonable lane-changing decisions can improve driving efficiency and reduce delays caused by avoiding slow vehicles. Finally, when the conditions no longer meet the following state, the vehicle can exit in time to avoid unnecessary following behavior. In this way, the vehicle can switch to the following or lane-changing obstacle-avoiding state in time according to the dynamic changes of the target vehicle, which improves the flexibility and adaptability of driving. It provides a more intelligent and comfortable driving experience for autonomous vehicles.

[0086] Figure 3 The flowchart of a control method for avoiding vehicles in the same direction provided by the embodiment of the present disclosure is provided. The embodiment of the present disclosure is used to explain how to control the vehicle to avoid when the target vehicle includes a side vehicle.

[0087] like Figure 3 As shown, the control method includes:

[0088] Step S301, based on the vehicle perception information and the environment map information, determine the target vehicle in the same direction as the vehicle.

[0089] Step S302, determining the classification result of the target vehicle based on the relative position of the target vehicle and the host vehicle.

[0090] Step S303, when the classification result of the target vehicle includes a side target, the cut-in avoidance strategy of the vehicle is determined according to the lateral distance between the target vehicle and the vehicle, and / or the driving speed of the target vehicle.

[0091] Here, when the target vehicle is classified as a side target, the target vehicle's driving trajectory and speed are analyzed based on the lateral distance and the target vehicle's driving speed, and its intention to cut into the lane is predicted, and a cut-in avoidance strategy is formulated.

[0092] Step S304: If the speed of the target vehicle is greater than the speed of the host vehicle, and the lateral distance between the target vehicle and the host vehicle shows a decreasing trend within the second set time period, the host vehicle enters the cut-in avoidance state.

[0093] Here, when the target vehicle speed is greater than the own vehicle speed and the lateral distance shows a decreasing trend, the cut-in avoidance state is triggered.

[0094] Step S305, obtaining the target vehicle collision detection result, and controlling the vehicle to decelerate when there is a collision risk.

[0095] The collision detection results of the target vehicle are obtained in real time. When a collision risk is detected, the control system is used to slow down the vehicle to avoid the collision.

[0096] Step S306, controlling the vehicle to travel according to the avoidance strategy.

[0097] Fig.10 The diagram shows the vehicle's cut-in avoidance of the side target in this state. After the vehicle enters the cut-in avoidance state, it performs collision detection on the side vehicle based on the vehicle's local path. If there is a collision risk when the target vehicle cuts into the lane, the vehicle is controlled to decelerate according to the distance to the collision point to ensure that it can stop before the collision.

[0098] Furthermore, obtaining the target vehicle collision detection result includes:

[0099] Determine and generate a detection boundary based on the local path and vehicle width of the vehicle; the detection boundary is used to represent the space occupied by the vehicle during driving; Fig.10 The middle oblique line shaded portion is the detection boundary in this embodiment.

[0100] Predicting the cut-in trajectory of the target vehicle according to the driving information of the target vehicle; the driving information of the target vehicle may include the driving speed, acceleration and steering angle of the target vehicle;

[0101] Obtain a comparison result of the degree of overlap between the detection boundary and the predicted target vehicle cut-in trajectory; if the cut-in trajectory of the target vehicle has a point of overlap with the detection boundary, it is determined that there is a collision risk.

[0102] In addition, in the cut-in avoidance state, when the lateral distance between the target vehicle and the vehicle is less than the safe lateral distance threshold, the vehicle is controlled to move away from the target vehicle to avoid. When the target vehicle completely cuts into the lane or exceeds the vehicle by a certain distance, the vehicle exits the avoidance state, stops collision detection, and returns to the global path of the vehicle.

[0103] If the target vehicle is located in front of the vehicle at this time and meets the driving information conditions corresponding to the following state, the vehicle will enter the following state.

[0104] Here, when a target vehicle is detected on the side, this embodiment can comprehensively consider the lateral distance and the driving speed of the target vehicle, intelligently predict its intention to cut into the lane, and formulate an efficient cut-in avoidance strategy accordingly. This process not only improves driving safety and effectively prevents collision risks, but also can trigger the avoidance state in time when the target vehicle is fast and the lateral distance continues to decrease, and control the vehicle to slow down through real-time collision detection results to ensure driving safety. Overall, this solution optimizes the decision-making and control process of autonomous driving vehicles, significantly improves the driving stability and comfort, and brings users a safer and smoother driving experience.

[0105] Figure 4 The flowchart of a control method for same-direction vehicle avoidance provided by an embodiment of the present disclosure is used to explain how to control the vehicle to avoid a target vehicle including a rear vehicle.

[0106] like Figure 4 As shown, the control method includes:

[0107] Step S401, based on the vehicle perception information and the environment map information, determine the target vehicle in the same direction as the vehicle.

[0108] Step S402, determining the classification result of the target vehicle based on the relative position of the target vehicle and the host vehicle.

[0109] Step S403, when the target vehicle includes a rear target, the overtaking avoidance strategy of the vehicle is determined according to the lane where the target vehicle is located, and / or the lateral distance between the target vehicle and the vehicle, and / or the longitudinal distance between the target vehicle and the vehicle.

[0110] Optionally, it also includes, when the target vehicle's driving speed is lower than the vehicle's driving speed, controlling the vehicle to drive normally without performing overtaking or avoidance processing.

[0111] Step S404, determining the lane position relationship between the target vehicle and the host vehicle in the global path direction.

[0112] For the target traveling in the same direction behind the vehicle, the relative lateral position of the target and the vehicle along the global path is calculated to determine the lane position relationship between the target vehicle and the vehicle. If the target vehicle is on the left, it is determined whether the vehicle needs to enter a state of avoiding the vehicle on the left in the same direction; if it is on the right, it is determined whether the vehicle needs to enter a state of avoiding the vehicle on the right in the same direction.

[0113] Step S405: If the target vehicle is located in the left rear lane of the vehicle, determine whether the vehicle enters the left avoidance state according to the target vehicle's speed, the lateral distance between the target vehicle and the vehicle, and the longitudinal distance between the target vehicle and the vehicle.

[0114] If the target vehicle is on the left rear side of the vehicle and the lateral distance between the target vehicle and the vehicle on the global path is less than a certain safety distance threshold, it is considered that the left rear vehicle has the intention to overtake, and the vehicle can be controlled to shift to the right to leave enough space on the left side for the target vehicle to pass; at the same time, the vehicle can be controlled to slow down according to the lateral and longitudinal distances between the target vehicle and the vehicle to avoid collision risks and ensure the comfort of the vehicle when shifting to the right to avoid.

[0115] Specifically, determining whether the vehicle enters the left avoidance state according to the speed of the target vehicle, the lateral distance between the target vehicle and the vehicle, and the longitudinal distance between the target vehicle and the vehicle includes:

[0116] When the target vehicle's speed is greater than that of the vehicle, and the lateral distance between the target vehicle and the vehicle is between 0 and 1.5 m, and the longitudinal distance is less than 10 m, and the duration is greater than 1 second, it is considered that the vehicle behind has the intention to overtake, and the vehicle is controlled to enter the left avoidance state.

[0117] At this time, the avoidance strategy that can be executed may include controlling the vehicle to shift to the right, leaving enough space on the left side for the target vehicle to pass;

[0118] Control the vehicle to slow down according to the lateral and longitudinal distances between the target vehicle and the vehicle to avoid collision risks, while also ensuring the comfort of the vehicle when it deviates to the right to avoid.

[0119] Fig.11 The diagram shows the vehicle avoiding the target behind it on the left side in this state. After the vehicle enters the left side avoidance state, the corresponding avoidance strategies include:

[0120] Taking the boundaries of both sides of the lane where the vehicle is located as the decision boundary, the real-time local path of the vehicle is planned to the right within the lane; Fig.11 In the figure, the dot-dash line A is the global path, and B is the real-time local path planned to the right within the lane when making a left avoidance.

[0121] The vehicle is deflected to the right to avoid the target vehicle according to the real-time local path, and the vehicle is controlled to slow down according to the longitudinal and lateral distances between the target vehicle and the vehicle;

[0122] Continuously determine whether the target vehicle meets the driving conditions for the vehicle to enter the left avoidance state;

[0123] If the driving conditions are not met, the vehicle exits the left avoidance state, ends planning the local path to the right, shifts left back to the global path, and accelerates to the normal cruising speed.

[0124] Here, by planning a path to the right in the lane, the vehicle can avoid the risk of colliding with the target vehicle due to lane change to the left lane or steering to the left, and a slight deviation to the right can also leave enough space for the vehicle behind the left. By decelerating, the pressure caused by the target vehicle overtaking the vehicle can be reduced. During the deceleration process, the minimum speed of the vehicle can be set to 3Km / h, so that the target vehicle can pass quickly while the vehicle continues to move forward.

[0125] Step S406: If the target vehicle is located in the lane behind the right side of the vehicle, determine whether the vehicle enters the right avoidance state according to the lane where the vehicle is located.

[0126] Step S407, controlling the vehicle to travel according to the avoidance strategy.

[0127] If the target vehicle is behind the right of the vehicle, the vehicle will decide whether to enter the right-side avoidance state based on the lane it is in, ensuring driving safety in a multi-lane environment. Here, if the vehicle is in the right lane, the vehicle will not avoid to the left to avoid the risk of collision when driving in the opposite lane (left lane); if the target vehicle behind the vehicle is already in the left lane, if the speed is higher than the vehicle, the target vehicle is considered to have the intention to overtake, and the vehicle will stay in the current lane to avoid the risk of collision when returning to the right lane. After the target vehicle overtakes the vehicle, the vehicle will return to the right lane.

[0128] Specifically, determining whether the vehicle enters the right avoidance state according to the lane where the vehicle is located includes:

[0129] If the target vehicle is in the lane behind the right of the vehicle and the vehicle is traveling in the lane where the global path is located, the vehicle will not enter the right avoidance state and will maintain normal cruising.

[0130] If the target vehicle is in the lane behind the vehicle to the right, and the vehicle is already driving in the left lane of the lane where the global path is located, the vehicle will be determined whether to enter the right avoidance state based on the target vehicle's speed, the lateral distance between the target vehicle and the vehicle, and the longitudinal distance between the target vehicle and the vehicle. Here, if the longitudinal distance between the target vehicle and the vehicle is less than 6m, the lateral distance between the target vehicle and the vehicle is between 0 and 1.5m, and the driving speed is higher than that of the vehicle, the vehicle can be controlled to maintain the current lane to avoid collision with the target vehicle when returning to the lane where the global path is located.

[0131] Fig.12 The diagram shows the vehicle avoiding the target behind it in this state. At this time, the right side avoidance strategy includes:

[0132] Stay in the left lane to avoid the vehicle behind you on the right, and control your vehicle to slow down so that the vehicle behind you on the right can pass quickly. Fig.12In the figure, the dot-dash line A corresponds to the global path, and the dot-dash line B corresponds to the current driving path of the vehicle, and the vehicle continues to drive on the path B.

[0133] Continuously determine whether the target vehicle meets the driving conditions for the vehicle to enter the right avoidance state;

[0134] If the driving conditions are not met, exit the right avoidance state, resume cruising speed, and return to the lane where the global path is located.

[0135] In this way, it can not only accurately identify and classify surrounding vehicles traveling in the same direction, but also intelligently formulate overtaking and avoidance strategies based on the relative positions and dynamic behaviors of the vehicles. This strategy effectively prevents the risk of collision during overtaking, ensures the stable driving of autonomous vehicles in complex traffic environments, and provides passengers with a safe and reliable driving experience.

[0136] Furthermore, when performing left-side avoidance for the left rear target, it also includes: continuously avoiding the left rear target that is overtaking. Fig.13 Another schematic diagram of left-side avoidance of a target behind the left is shown. The dot-dash line A is the global path, and the dot-dash line B is the actual driving path of the vehicle shifting to the right to avoid the target in the lane when avoiding the target on the left, and returning to the global path after the vehicle has passed the target.

[0137] If the target vehicle's position relative to the vehicle changes from the rear to the side within the set time after the vehicle enters the left avoidance state, then predict whether it intends to cut into the lane;

[0138] If the target vehicle intends to cut into your lane, control your vehicle to avoid it to the right and slow down to leave room for it to cut in.

[0139] If the position of the target vehicle relative to the own vehicle changes from the side to the front, the own vehicle is controlled to exit the offset avoidance state and the target vehicle is selected as the following target for following.

[0140] In this way, for the vehicle overtaking from behind, after evading to the right, the vehicle will continue to evade until the vehicle behind reaches the side of the vehicle, and then determine whether the target vehicle intends to cut in, determine whether to continue to evade to the right, let the target vehicle cut in, and follow the target vehicle after the target vehicle cuts into the lane. This ensures that the vehicle can drive smoothly during the dynamic change of the position of the same vehicle relative to the vehicle.

[0141] Figure 5 The figure is a flow chart of a control method for same-direction vehicle avoidance provided by an embodiment of the present disclosure. The embodiment of the present disclosure is used to explain how to control the vehicle to avoid when there are multiple target vehicles.

[0142] like Figure 5As shown, the control method includes:

[0143] Step S501, based on the vehicle perception information and the environment map information, determine the target vehicle in the same direction as the vehicle.

[0144] Step S502, based on the relative position between the target vehicle and the host vehicle, determining the classification result of the target vehicle; the classification result includes a front target, and / or a side target, and / or a rear target.

[0145] Step S503: According to the classification result of the target vehicle, the driving information of the target vehicle corresponding to the classification result is obtained.

[0146] Step S504, determining the avoidance strategy of the vehicle according to the classification result and driving information of the target vehicle.

[0147] Step S505, when the target vehicle includes a front target, determining the vehicle following avoidance strategy of the vehicle according to the longitudinal distance between the target vehicle and the vehicle, and / or the driving speed of the target vehicle;

[0148] Step S506, when the target vehicle includes a side target, determining the cut-in avoidance strategy of the vehicle according to the lateral distance between the target vehicle and the vehicle, and / or the driving speed of the target vehicle;

[0149] Step S507, when the target vehicle includes a rear target, determine the overtaking avoidance strategy of the vehicle according to the lane where the target vehicle is located, and / or the lateral distance between the target vehicle and the vehicle, and / or the longitudinal distance between the target vehicle and the vehicle.

[0150] Step S508, when there are multiple target vehicles, sort the multiple target vehicles belonging to different categories according to a pre-set processing order to determine the processing priority of each target vehicle relative to other target vehicles; the pre-set processing order includes the order that the front target takes precedence over the side target, and the side target takes precedence over the rear target.

[0151] Step S509: determining the execution order of the avoidance strategies corresponding to the multiple target vehicles according to the processing priorities.

[0152] Step S510, controlling the vehicle to travel according to the avoidance strategy.

[0153] Optionally, when there are targets in front and on the side at the same time, corresponding avoidance strategies are executed in the order of the targets in front and on the side. Fig.14The schematic diagram of the vehicle handling the front and side targets is shown. The dot-dash line A corresponds to the global path, and the dot-dash line B corresponds to the local path for the vehicle to avoid the cutting-in state of the side vehicle in the following state. First, the front following vehicle avoidance strategy is confirmed and executed, and then the side cutting-in avoidance strategy is confirmed and executed. In this way, when the driving information of the front target meets the conditions corresponding to entering the following state, the vehicle enters the following state and follows the front vehicle; at this time, it is determined whether the driving information of the side target meets the conditions corresponding to the cutting-in avoidance state. If the side target has the intention to cut in, the vehicle determines whether there is a collision risk according to the avoidance strategy corresponding to the cutting-in avoidance state, and controls the vehicle to slow down in the case of a collision risk, thereby keeping a distance from the front vehicle and leaving more space for the side target to cut in.

[0154] Optionally, when there are both front and rear targets, corresponding avoidance strategies are executed in the order of the front target and the rear target.

[0155] In this way, the front following vehicle avoidance strategy is confirmed and executed first, and then the rear overtaking avoidance strategy is confirmed and executed. In this way, when the driving information of the front target meets the conditions corresponding to entering the following state, the vehicle enters the following state and follows the front vehicle; at this time, the overtaking avoidance strategy of the vehicle is determined according to the lane where the rear vehicle is located and the corresponding driving information of the rear vehicle. In this way, when the driving information of the front target meets the conditions corresponding to entering the following state, the vehicle enters the following state and follows the front vehicle; when following the front target, if the driving information of the rear vehicle meets the conditions corresponding to the overtaking avoidance strategy, the vehicle will shift to the right to avoid and slow down to leave overtaking space for the rear vehicle. Here, when the rear vehicle overtakes to the side, the strategy for the side target can be used for it until the overtaking is completed.

[0156] Optionally, when there are both side and rear targets, corresponding avoidance strategies are executed in the order of the side and rear targets.

[0157] In this way, when there are targets to be avoided both on the side and in the rear, the vehicle will prioritize evaluating the driving information of the target on the side to determine whether to execute the side cut-in avoidance strategy. In the cut-in avoidance state, if the lateral distance between the target vehicle and the vehicle is less than the safe lateral distance threshold, the side avoidance strategy will be prioritized, and the vehicle will be controlled to slowly shift to the right to increase the lateral distance from the target vehicle on the side to avoid collision; when the target on the side intends to cut in, the vehicle will be determined based on the collision detection results to determine whether to slow down. When the side vehicle has completed the cut-in, or the lateral distance from the vehicle has increased beyond the safe lateral distance threshold, the subsequent rear overtaking avoidance strategy will be executed, and the vehicle will be controlled to enter the left avoidance state or the right avoidance state based on the driving information of the rear vehicle.

[0158] Furthermore, when the avoidance strategy corresponding to the side target has the function of controlling the vehicle to shift to the right by a first distance, and the avoidance strategy corresponding to the rear target has the function of controlling the vehicle to shift to the right by a second distance, avoidance is performed according to the maximum avoidance distance.

[0159] In this way, when there are multiple target vehicles, they can be prioritized according to the processing order among the multiple target vehicles, thereby obtaining a coordination mechanism to ensure that the execution order of the avoidance strategy is reasonable and efficient in the case of multiple target vehicles.

[0160] Combination Figure 6 As shown, the embodiment of the present disclosure provides a control device for same-direction vehicle avoidance, comprising a perception module 610, a decision module 620 and a control module 630. The perception module 610 is configured to determine a target vehicle in the same direction as the vehicle based on vehicle perception information and environmental map information; the decision module 320 is configured to determine the avoidance strategy of the vehicle based on the relative position between the target vehicle and the vehicle and the driving information of the target vehicle; the control module 630 is configured to control the vehicle to travel according to the avoidance strategy;

[0161] In the case where there are multiple target vehicles, the decision module 620 is further configured to coordinate the execution order of the avoidance strategy according to the processing order among the multiple target vehicles.

[0162] Combination Figure 7 As shown, the embodiment of the present disclosure provides another control device for same-direction vehicle avoidance, including a processor (processor) 700 and a memory (memory) 701. Optionally, the device 70 may also include a communication interface (Communication Interface) 702 and a bus 703. Among them, the processor 700, the communication interface 702, and the memory 701 can communicate with each other through the bus 703. The communication interface 702 can be used for information transmission. The processor 700 can call the logic instructions in the memory 701 to execute the control method for same-direction vehicle avoidance of the above embodiment.

[0163] In addition, the logic instructions in the memory 701 described above may be implemented in the form of software functional units and when sold or used as independent products, may be stored in a computer-readable storage medium.

[0164] The memory 701 is a computer-readable storage medium that can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 700 executes the function application and data processing by running the program instructions / modules stored in the memory 701, that is, the control method for avoiding vehicles in the same direction in the above embodiment is implemented.

[0165] The memory 701 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 701 may include a high-speed random access memory and may also include a non-volatile memory.

[0166] The disclosed embodiments also provide a vehicle, comprising: a vehicle body, and the above-mentioned control device for avoiding vehicles in the same direction. The control device for avoiding vehicles in the same direction is installed on the vehicle body. The installation relationship described here is not limited to placement inside the vehicle body, but also includes installation connections with other components of the vehicle body, including but not limited to physical connections, electrical connections or signal transmission connections, etc. Those skilled in the art can understand that the control device for avoiding vehicles in the same direction can be adapted to a feasible vehicle body, thereby realizing other feasible embodiments.

[0167] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the above-mentioned control method for same-direction vehicle avoidance.

[0168] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes.

[0169] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0170] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods for each specific application to implement the described functions, but such implementations should not be considered to exceed the scope of the embodiments of the present disclosure. The technicians may clearly understand that, for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0171] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0172] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A control method for avoiding vehicles in the same direction, characterized in that: include: Based on vehicle perception information and environmental map information, determine the target vehicle in the same direction as the vehicle; Determine the avoidance strategy of the vehicle based on the relative position of the target vehicle and the vehicle and the driving information of the target vehicle; Control the vehicle according to the avoidance strategy; In the case where there are multiple target vehicles, the execution order of the avoidance strategy is coordinated according to the processing order among the multiple target vehicles.

2. The control method according to claim 1, characterized in that: The method of determining the avoidance strategy of the vehicle based on the relative position of the target vehicle and the vehicle and the driving information of the target vehicle includes: Based on the relative position of the target vehicle and the host vehicle, determining the classification result of the target vehicle; the classification result includes a front target, and / or a side target, and / or a rear target; Acquire driving information of the target vehicle, the driving information including the relative speed between the target vehicle and the host vehicle, and / or the longitudinal distance between the target vehicle and the host vehicle, and / or the lateral distance between the target vehicle and the host vehicle, and / or the driving speed of the target vehicle, and / or the lane where the target vehicle is located; Determine the avoidance strategy of the vehicle based on the classification result and driving information of the target vehicle; Among them, the front target is the vehicle target in the same direction located in front of the vehicle in the driving direction; the side vehicle is the vehicle target in the same direction located on the side of the vehicle; the rear target is the vehicle target in the same direction located behind the vehicle in the driving direction.

3. The control method according to claim 2, characterized in that: The step of coordinating the execution order of the avoidance strategy according to the processing order among the multiple target vehicles includes: sorting a plurality of target vehicles belonging to different classifications according to a pre-set processing order to determine a processing priority of each target vehicle relative to other target vehicles; Determine the execution order of the avoidance strategies corresponding to the multiple target vehicles according to the processing priority; The pre-set processing order includes the order that the front target takes precedence over the side target, and the side target takes precedence over the rear target.

4. The control method according to claim 2, characterized in that: Determining the avoidance strategy of the vehicle according to the classification result and driving information of the target vehicle includes: In the case where the target vehicle includes a front target, the vehicle following avoidance strategy of the vehicle is determined according to the longitudinal distance between the target vehicle and the vehicle, and / or the speed of the target vehicle; and / or, In the case where the target vehicle includes a side target, determining the cut-in avoidance strategy of the vehicle according to the lateral distance between the target vehicle and the vehicle, and / or the driving speed of the target vehicle; When the target vehicle includes a rear target, the overtaking avoidance strategy of the vehicle is determined according to the lane where the target vehicle is located, and / or the lateral distance between the target vehicle and the vehicle, and / or the longitudinal distance between the target vehicle and the vehicle.

5. The control method according to claim 4, characterized in that: The vehicle following avoidance strategy includes: If the longitudinal distance between the target vehicle and the vehicle is less than a first set distance, and the target vehicle's driving speed is greater than or equal to a first speed threshold, the vehicle enters a following state; the lane lines on both sides of the road where the vehicle is located are used as decision boundaries, a local path is planned within the decision boundaries, and the vehicle follows the target vehicle; and / or, If the target vehicle's speed is less than the second speed threshold for a duration greater than a first set duration, the vehicle enters a lane change and obstacle avoidance state; bypasses the target vehicle; and / or, If the longitudinal distance between the target vehicle and the vehicle is greater than the first set distance, the vehicle exits the following state.

6. The control method according to claim 4, characterized in that: The cut-in avoidance strategy includes: If the target vehicle's speed is greater than the vehicle's speed, and the lateral distance between the target vehicle and the vehicle decreases within the second set time, the vehicle enters the cut-in avoidance state; Obtain the target vehicle collision detection results and control the vehicle to slow down if there is a collision risk.

7. The control method according to any one of claims 1 to 6, characterized in that: The determining of a target vehicle in the same direction as the vehicle based on the vehicle perception information and the environment map information includes: Based on the environmental map information, determine the global path corresponding to the current driving task, wherein the global path includes the driving trajectory of the vehicle from the starting point to the end point; According to the vehicle perception information, the information of the vehicles on the current road is obtained; The vehicle whose moving direction is consistent with the matching point of the vehicle on the global path is regarded as the target vehicle in the same direction.

8. A control device for avoiding vehicles in the same direction, characterized in that: include: A perception module is configured to determine a target vehicle in the same direction as the vehicle based on the vehicle perception information and the environment map information; A decision module is configured to determine an avoidance strategy of the vehicle based on the relative position of the target vehicle and the vehicle and the driving information of the target vehicle; A control module is configured to control the vehicle to travel according to an avoidance strategy; Wherein, when there are multiple target vehicles, the decision module is further configured to coordinate the execution order of the avoidance strategy according to the processing order among the multiple target vehicles.

9. A control device for avoiding vehicles in the same direction, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to execute the control method for same-direction vehicle avoidance as claimed in any one of claims 1 to 7 when running the program instructions.

10. A vehicle, characterized in that: include: Vehicle body; The control device for avoiding same-direction vehicles as described in claim 8 or 9 is installed on the vehicle body.

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