Vehicle control method and vehicle control system

Abstract

The invention discloses a vehicle control method and a vehicle control system, which are used for improving the safety of overtaking behaviors and reducing the probability of traffic accidents. The method comprises the steps that when an overtaking instruction is obtained, road condition information is collected; judging whether the target vehicle is in a two-way single lane; if yes, whether a first vehicle exists or not is judged; if the first vehicle does not exist, determining second driving information, and determining a merging position; if the first vehicle exists, detecting first driving information; judging whether a safe overtaking condition is met or not according to the first driving information and the second driving information; if the safe overtaking condition is met, entering an overtaking mode and determining a merging position; if the target vehicle is not in the two-way single lane, judging whether a third vehicle exists in the overtaking lane or not; if the third vehicle exists, detecting third driving information; judging whether a safe overtaking condition is met or not according to the second driving information and the third driving information; and if the safe overtaking condition is met, entering an overtaking mode and determining a merging position.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular to a vehicle control method and a vehicle control system. Background Art

[0002] As the number of cars continues to increase, road traffic conditions have become more complicated, resulting in an increasing number of traffic accidents. The number of traffic accidents caused by overtaking accounts for a considerable percentage of all traffic accidents.

[0003] At present, although the overtaking sight distance for vehicles on different levels of roads and at different driving speeds has been specified, in the actual overtaking process, especially in the process of overtaking in the opposite direction on a two-lane (i.e., a two-way single lane), the driver still needs to rely on subjective judgment to complete the overtaking behavior.

[0004] This overtaking method that relies on subjective judgment can easily cause vehicle collisions due to subjective observation errors. For example, when the vehicle is traveling at a high speed and overtaking multiple vehicles in a row in front, it is easy to have illusions when predicting the distance to the oncoming vehicle, and it is necessary to overtake multiple vehicles. At this time, the driver cannot observe whether the distance between the multiple vehicles in front meets the merging conditions. Once the vehicle overtakes in this situation, it will be discovered that there were previous observation omissions or misjudgments. At this time, the vehicle is in the target lane and cannot move forward. At the same time, the original lane is in a dilemma where it is in the position of the overtaken vehicle / vehicle group and cannot retreat, which can easily cause traffic accidents. Summary of the invention

[0005] The present application provides a vehicle control method and a vehicle control system for improving the safety of overtaking behavior and reducing the probability of traffic accidents.

[0006] A first aspect of the present application provides a vehicle control method, comprising:

[0007] When the target vehicle obtains an overtaking instruction, road condition information is collected, and the road condition information includes lane information;

[0008] Determining whether the target vehicle is in a two-way single lane according to the lane information;

[0009] If the target vehicle is in a two-way single lane, determine whether there is a first vehicle in the opposite lane, the first vehicle is a vehicle traveling in the opposite direction of the target vehicle, and the opposite lane is an adjacent lane to the current lane where the target vehicle is located;

[0010] If there is no first vehicle in the opposite lane, second driving information of the front vehicle group is determined through the vehicle driving video shared by the second vehicle in the current lane, and a merging position is determined according to the second driving information, so that the target vehicle overtakes according to the merging position, and the second vehicle is the front vehicle of the target vehicle;

[0011] If there is a first vehicle in the oncoming lane, detecting first driving information of the first vehicle;

[0012] determining whether a safe overtaking condition is met according to the first driving information and the second driving information;

[0013] If the safe overtaking condition is met, the overtaking mode is entered and a merging position is determined so that the target vehicle overtakes according to the merging position;

[0014] If the target vehicle is not in a two-way single lane, determine whether there is a third vehicle in the overtaking lane, the overtaking lane is an adjacent lane to the current lane, and the third vehicle is a vehicle located in front of the target vehicle;

[0015] If there is a third vehicle in the overtaking lane, detecting third driving information of the third vehicle;

[0016] determining whether a safe overtaking condition is met according to the second driving information and the third driving information;

[0017] If the safe overtaking condition is met, the overtaking mode is entered and a merging position is determined so that the target vehicle overtakes according to the merging position.

[0018] Optionally, after entering the overtaking mode and determining the merging position, the vehicle control method further includes:

[0019] An overtaking trajectory is generated according to the merging position, so that the target vehicle performs an overtaking operation according to the overtaking trajectory.

[0020] Optionally, judging whether a safe overtaking condition is met according to the first driving information and the second driving information includes:

[0021] determining first speed information of the first vehicle according to the first driving information;

[0022] determining a merging position according to the second driving information;

[0023] determining whether a first distance between a first vehicle and the target vehicle is greater than a second distance, the second distance being a distance between the target vehicle and a merging position;

[0024] If the first distance is greater than the second distance, determining a first duration according to the first speed information and a third distance, wherein the third distance is the distance between the first vehicle and the merging position, and the first duration is the duration for the first vehicle to travel to the merging position;

[0025] Determining whether the first time duration is greater than a second time duration, where the second time duration is the time duration for the target vehicle to travel to the merging position;

[0026] If the first time duration is greater than the second time duration, it is determined that the safe overtaking condition is met.

[0027] Optionally, generating a merging position according to the second driving information includes:

[0028] Determine whether the distance between two adjacent vehicles in the front vehicle group is greater than a safety distance threshold;

[0029] If it is greater than the safety distance threshold, the position between the two adjacent vehicles is determined to be the merging position.

[0030] Optionally, after determining whether a safe overtaking condition is met according to the first driving information and the second driving information, the vehicle control method further includes:

[0031] If the safe overtaking conditions are not met, a dangerous overtaking warning is generated.

[0032] Optionally, the determining whether there is a first vehicle in the oncoming lane, the first vehicle being a vehicle traveling in the opposite direction of the target vehicle, comprises:

[0033] The laser radar and TOF camera are used to determine whether there is a first vehicle in the opposite lane.

[0034] Optionally, the first driving information includes driving direction information and speed information of the first vehicle.

[0035] A second aspect of the present application provides a vehicle control system, comprising:

[0036] A collection unit, used to collect road condition information when the target vehicle obtains an overtaking instruction, wherein the road condition information includes lane information;

[0037] A first judgment unit, used for judging whether the target vehicle is in a two-way single lane according to the lane information;

[0038] A second judgment unit is used to judge whether there is a first vehicle in an opposite lane if the target vehicle is in a two-way single lane, the first vehicle being a vehicle traveling in the opposite direction of the target vehicle, and the opposite lane being an adjacent lane to the current lane where the target vehicle is located;

[0039] a first determining unit, configured to determine second driving information of a front vehicle group through a vehicle driving video shared by a second vehicle in a current lane if the first vehicle does not exist in the opposite lane, and determine a merging position according to the second driving information, so that the target vehicle overtakes according to the merging position, the second vehicle being a front vehicle of the target vehicle;

[0040] a first detection unit, configured to detect first driving information of a first vehicle if there is a first vehicle in the opposite lane;

[0041] a third judgment unit, configured to judge whether a safe overtaking condition is met according to the first driving information and the second driving information;

[0042] a second determining unit, configured to enter an overtaking mode and determine a merging position if a safe overtaking condition is met, so that the target vehicle overtakes according to the merging position;

[0043] a fourth judgment unit, configured to judge whether there is a third vehicle in an overtaking lane if the target vehicle is not in a two-way single lane, the overtaking lane being an adjacent lane of the current lane, and the third vehicle being a vehicle located in front of the target vehicle;

[0044] a second detection unit, configured to detect third driving information of the third vehicle if there is a third vehicle in the overtaking lane;

[0045] a fifth judgment unit, configured to judge whether a safe overtaking condition is met according to the second driving information and the third driving information;

[0046] The third determining unit is configured to enter an overtaking mode and determine a merging position if a safe overtaking condition is met, so that the target vehicle overtakes according to the merging position.

[0047] Optionally, the vehicle control system further includes:

[0048] The first generating unit is used to generate an overtaking trajectory according to the merging position, so that the target vehicle performs an overtaking operation according to the overtaking trajectory.

[0049] Optionally, the third judgment unit is specifically configured to:

[0050] determining first speed information of the first vehicle according to the first driving information;

[0051] determining a merging position according to the second driving information;

[0052] determining whether a first distance between a first vehicle and the target vehicle is greater than a second distance, the second distance being a distance between the target vehicle and a merging position;

[0053] If the first distance is greater than the second distance, determining a first duration according to the first speed information and a third distance, wherein the third distance is the distance between the first vehicle and the merging position, and the first duration is the duration for the first vehicle to travel to the merging position;

[0054] Determining whether the first time duration is greater than a second time duration, where the second time duration is the time duration for the target vehicle to travel to the merging position;

[0055] If the first time duration is greater than the second time duration, it is determined that the safe overtaking condition is met.

[0056] Optionally, the first determining unit is specifically configured to:

[0057] Determine whether the distance between two adjacent vehicles in the front vehicle group is greater than a safety distance threshold;

[0058] If it is greater than the safety distance threshold, the position between the two adjacent vehicles is determined to be the merging position.

[0059] Optionally, the vehicle control system further includes:

[0060] The second generating unit is used to generate a dangerous overtaking warning if the safe overtaking condition is not met.

[0061] Optionally, the second judgment unit is specifically configured to:

[0062] The laser radar and TOF camera are used to determine whether there is a first vehicle in the opposite lane.

[0063] Optionally, the first driving information includes driving direction information and speed information of the first vehicle.

[0064] A third aspect of the present application provides a vehicle control system, the vehicle control system comprising:

[0065] Processor, memory, input-output unit, and bus;

[0066] The processor is connected to the memory, the input and output unit, and the bus;

[0067] The memory stores a program, and the processor calls the program to execute the first aspect and any optional vehicle control method in the first aspect.

[0068] A fourth aspect of the present application provides a computer-readable storage medium, on which a program is stored. When the program is executed on a computer, the program executes the first aspect and any optional vehicle control method in the first aspect.

[0069] It can be seen from the above technical scheme that the present application has the following advantages: the vehicle control method of the present application determines the second driving information of the vehicle group ahead through the vehicle driving video shared by the second vehicle in the current lane, and generates a merging position based on the second driving information, or determines whether the safe overtaking conditions are met based on the first driving information and the second driving information; if the safe overtaking conditions are met, enter the overtaking mode and determine the merging position, so that the target vehicle overtakes according to the merging position; or determine whether the safe overtaking conditions are met based on the second driving information and the third driving information; if the safe overtaking conditions are met, enter the overtaking mode and determine the merging position, so that the target vehicle overtakes according to the merging position; thereby, there is no need for manual subjective judgment of overtaking, and the merging position for overtaking is automatically judged and generated by the terminal, which improves the safety of overtaking behavior and reduces the probability of traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solution in the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0071] Figure 1 A schematic flow chart of an embodiment of a vehicle control method provided by the present application;

[0072] Figure 2 A schematic flow chart of another embodiment of a vehicle control method provided by the present application;

[0073] Figure 3 A schematic diagram of the structure of an embodiment of a vehicle control system provided by the present application;

[0074] Figure 4 A schematic diagram of another embodiment of a vehicle control system provided by the present application;

[0075] Figure 5 A schematic structural diagram of an embodiment of a vehicle control system provided in this application. DETAILED DESCRIPTION

[0076] The present application provides a vehicle control method and a vehicle control system for improving the safety of overtaking behavior and reducing the probability of traffic accidents.

[0077] It should be noted that the vehicle control method provided in this application can be applied to a terminal or a server. For example, the terminal can be a smart phone or a computer, a tablet computer, a smart TV, a smart watch, a portable computer terminal, or a fixed terminal such as a desktop computer. For the convenience of explanation, this application uses the terminal as an example for explanation.

[0078] See also Figure 1 , Figure 1 An embodiment of a vehicle control method provided by the present application includes:

[0079] 101. When the target vehicle obtains an overtaking instruction, the terminal collects road condition information, which includes lane information;

[0080] In this embodiment, when the driver of the target vehicle needs to overtake, after the vehicle reaches a certain speed, the driver triggers the overtaking signal by toggling the turn signal pole or a separate overtaking button. At this time, the target vehicle obtains the overtaking instruction, and the on-board terminal of the target vehicle collects road condition information, which includes lane information, and the lane information includes one-way multiple lanes or two-way single lane.

[0081] 102. The terminal determines whether the target vehicle is in a two-way single lane according to the lane information;

[0082] In this embodiment, the terminal determines whether the target vehicle is in a two-way single lane according to the lane information. If the target vehicle is in a two-way single lane, the terminal executes step 103; if the target vehicle is not in a two-way single lane, the terminal executes step 108.

[0083] 103. If the target vehicle is in a two-way single lane, the terminal determines whether there is a first vehicle in the opposite lane, the first vehicle is a vehicle traveling in the opposite direction of the target vehicle, and the opposite lane is an adjacent lane to the current lane where the target vehicle is located;

[0084] In this embodiment, if the target vehicle is in a two-way single lane, the terminal determines whether there is a first vehicle in the opposite lane, the first vehicle is a vehicle traveling in the opposite direction of the target vehicle, and the opposite lane is an adjacent lane to the current lane where the target vehicle is located. If there is the first vehicle in the opposite lane, the terminal executes step 104; if there is the first vehicle in the opposite lane, the terminal executes step 105.

[0085] 104. If the first vehicle does not exist in the opposite lane, the terminal determines second driving information of the front vehicle group through the vehicle driving video shared by the second vehicle in the current lane, and generates a merging position according to the second driving information, so that the target vehicle overtakes according to the merging position, and the second vehicle is the front vehicle of the target vehicle;

[0086] In this embodiment, if there is no first vehicle in the opposite lane, the terminal determines the second driving information of the vehicle group ahead through the vehicle driving video shared by the second vehicle in the current lane, the second driving information includes the distance information between two adjacent vehicles in the vehicle group ahead and the speed information of each vehicle in the vehicle group ahead, and generates a merging position based on the second driving information. After the vehicle changes lanes and overtakes in a two-way single lane, it is necessary to return to the current lane after completing the overtaking. If there are multiple vehicles ahead, the merging position needs to be determined by the terminal. The merging position has enough space for the target vehicle to return to the current lane. The second vehicle drives in the current lane and is located in front of the target vehicle.

[0087] 105. If there is a first vehicle in the opposite lane, the terminal detects first driving information of the first vehicle;

[0088] In this embodiment, if there is a first vehicle in the opposite lane, the terminal detects first driving information of the first vehicle, wherein the first driving information includes driving speed information of the first vehicle, driving direction information of the first vehicle, and relative distance information between the first vehicle and the target vehicle.

[0089] 106. The terminal determines whether a safe overtaking condition is met according to the first driving information and the second driving information;

[0090] In this embodiment, the terminal determines whether the safe overtaking condition is met based on the first driving information of the first vehicle in the opposite lane and the second driving information of the second vehicle in the current lane. The specific judgment process will be described in detail in the next embodiment and will not be repeated here. If the safe overtaking condition is met, the terminal executes step 107.

[0091] 107. If the safe overtaking condition is met, the terminal enters the overtaking mode and determines the merging position so that the target vehicle overtakes according to the merging position;

[0092] In this embodiment, if the safe overtaking condition is met, the terminal controls the vehicle to accelerate, enter the overtaking mode and determine the merging position, so that the target vehicle overtakes according to the merging position.

[0093] 108. If the target vehicle is not in a two-way single lane, the terminal determines whether there is a third vehicle in the overtaking lane, where the overtaking lane is an adjacent lane to the current lane, and the third vehicle is a vehicle located in front of the target vehicle;

[0094] In this embodiment, if the target vehicle is not in a two-way single lane, the terminal determines that the target vehicle is in a one-way multi-lane, and the terminal determines whether there is a third vehicle in the overtaking lane adjacent to the current lane, and the third vehicle and the target vehicle are vehicles in the same direction as the target vehicle and located in front of the target vehicle; if there is a third vehicle in the overtaking lane, the terminal executes step 109; if there is no third vehicle in the overtaking lane, the driver can decide whether to change lanes directly to the overtaking lane to overtake.

[0095] 109. If there is a third vehicle in the overtaking lane, the terminal detects third driving information of the third vehicle;

[0096] In this embodiment, if there is a third vehicle in the overtaking lane, the terminal detects third driving information of the third vehicle, where the third driving information includes driving speed information of the third vehicle, driving direction information of the third vehicle, and relative distance information between the third vehicle and the target vehicle.

[0097] 110. Determine whether a safe overtaking condition is met according to the second driving information and the third driving information;

[0098] In this embodiment, the terminal determines whether the safe overtaking condition is met based on the second driving information of the front vehicle group traveling in the current lane and located in front of the target vehicle and the third driving information of the third vehicle traveling in the overtaking lane and located in front of the target vehicle. If the safe overtaking condition is met, the terminal executes step 111.

[0099] 111. If the safe overtaking conditions are met, the terminal enters the overtaking mode and determines the merging position so that the target vehicle overtakes according to the merging position.

[0100] In this embodiment, if the safe overtaking condition is met, the terminal controls the target vehicle to accelerate into the overtaking mode, and determines the merging position according to the second driving information and the third driving information, so that the target vehicle overtakes according to the merging position.

[0101] In this embodiment, the vehicle control method of the present application determines the second driving information of the front vehicle group through the vehicle driving video shared by the second vehicle in the current lane, and generates a merging position according to the second driving information, or determines whether the safe overtaking conditions are met according to the first driving information and the second driving information; if the safe overtaking conditions are met, the overtaking mode is entered and the merging position is determined, so that the target vehicle overtakes according to the merging position; or determines whether the safe overtaking conditions are met according to the second driving information and the third driving information; if the safe overtaking conditions are met, the overtaking mode is entered and the merging position is determined, so that the target vehicle overtakes according to the merging position; thereby, there is no need for manual subjective judgment of overtaking, and the merging position for overtaking is automatically judged and generated by the terminal, which improves the safety of overtaking behavior and reduces the probability of traffic accidents.

[0102] In order to make the vehicle control method and vehicle control system provided by the present application more obvious and easy to understand, the vehicle control method provided by the present application is described in detail below:

[0103] See also Figure 2 , Figure 2 Another embodiment of a vehicle control method provided by the present application includes:

[0104] 201. When the target vehicle obtains an overtaking instruction, the terminal collects road condition information, which includes lane information;

[0105] 202. The terminal determines whether the target vehicle is in a two-way single lane according to the lane information;

[0106] Steps 201 to 202 in this embodiment are similar to those in the previous Figure 1 Steps 101 to 102 in the embodiment are similar and will not be described in detail here.

[0107] 203. If the target vehicle is in a two-way single lane, the terminal determines whether there is a first vehicle in the opposite lane, the first vehicle is a vehicle traveling in the opposite direction of the target vehicle, and the opposite lane is an adjacent lane to the current lane where the target vehicle is located;

[0108] In this embodiment, the terminal determines whether there is a first vehicle in the opposite lane through the laser radar and TPF camera on the target vehicle, and the first vehicle is a vehicle traveling in the opposite direction of the target vehicle.

[0109] 204. If the first vehicle does not exist in the opposite lane, the terminal determines second driving information of the front vehicle group through the vehicle driving video shared by the second vehicle in the current lane, and generates a merging position according to the second driving information, so that the target vehicle overtakes according to the merging position, and the second vehicle is the front vehicle of the target vehicle;

[0110] In this embodiment, the terminal generates the merging position according to the second driving information, including: the terminal determines whether the distance between two adjacent vehicles in the front vehicle group is greater than the safety distance threshold; if it is greater than the safety distance threshold, the terminal determines the position between the two adjacent vehicles as the merging position. For example: the front vehicle group has three second vehicles A, B, and C, where A is located in front of B, B is located in front of C, the distance between A and B is 200 meters, and the distance between B and C is 350 meters. If the safety distance threshold is 300 meters, the terminal determines the merging position as the position between B and C.

[0111] 205. If there is a first vehicle in the opposite lane, the terminal detects first driving information of the first vehicle;

[0112] Step 205 in this embodiment is similar to the above Figure 1 Step 105 in the embodiment is similar and will not be described in detail here.

[0113] 206. The terminal determines whether a safe overtaking condition is met according to the first driving information and the second driving information;

[0114] In this embodiment, the terminal determines the first speed information of the first vehicle according to the first driving information; the terminal determines the merging position according to the second driving information; the terminal determines whether the first distance between the first vehicle and the target vehicle is greater than the second distance, the second distance being the distance between the target vehicle and the merging position; if the first distance is greater than the second distance, the terminal determines the first duration according to the first speed and the third distance, the third distance being the distance between the first vehicle and the merging position, and the first duration being the duration for the first vehicle to travel to the merging position; the terminal determines whether the first duration is greater than the second duration, the second duration being the duration for the target vehicle to travel to the merging position; if the first duration is greater than the second duration, the terminal determines that the safe overtaking condition is met, and the terminal executes step 207; if the first duration is less than the second duration, the terminal determines that the safe overtaking condition is not met, and the terminal executes step 213. In this embodiment, the terminal determines whether the first distance between the first vehicle and the target vehicle is greater than the second distance between the target vehicle and the merging position. If the first distance is greater than the second distance, then there is sufficient distance for the target vehicle to overtake from the merging position. The terminal determines a first time duration based on the first speed and the third distance. The first time duration is the time duration for the first vehicle to travel to the merging position. If the first time duration is greater than the second time duration for the target vehicle to travel to the merging position, then the target vehicle has sufficient time to travel to the merging position. At this time, the terminal determines that the target vehicle meets the safe overtaking conditions, and the terminal executes step 207.

[0115] 207. If the safe overtaking condition is met, the terminal enters the overtaking mode and determines the merging position so that the target vehicle overtakes according to the merging position;

[0116] 208. If the target vehicle is not in a two-way single lane, the terminal determines whether there is a third vehicle in the overtaking lane, where the overtaking lane is an adjacent lane to the current lane, and the third vehicle is a vehicle located in front of the target vehicle;

[0117] 209. If there is a third vehicle in the overtaking lane, the terminal detects third driving information of the third vehicle;

[0118] 210. The terminal determines whether a safe overtaking condition is met according to the second driving information and the third driving information;

[0119] 211. If the safe overtaking conditions are met, the terminal enters the overtaking mode and determines the merging position;

[0120] Steps 207 to 211 in this embodiment are similar to those in the previous embodiment. Figure 1 Steps 107 to 111 in the embodiment are similar and will not be described in detail here.

[0121] 212. The terminal generates an overtaking trajectory according to the merging position, so that the target vehicle performs an overtaking operation according to the overtaking trajectory;

[0122] In this embodiment, the terminal generates an overtaking trajectory according to the merging position, and displays the overtaking trajectory on a vehicle-mounted display screen that is communicatively connected to the vehicle terminal, so that the target vehicle performs an overtaking operation according to the overtaking trajectory.

[0123] 213. If the safe overtaking conditions are not met, the terminal generates a dangerous overtaking warning.

[0124] In this embodiment, if the safe overtaking condition is not met, the terminal generates a dangerous overtaking warning, so that the driver can adjust the driving speed of the target vehicle in time according to the dangerous overtaking warning, thereby reducing the risk of accidents.

[0125] The above describes a vehicle control method provided by the present application. The following describes a vehicle control system provided by the present application:

[0126] See also Figure 3 , Figure 3 An embodiment of a vehicle control system provided by the present application includes:

[0127] A collection unit 301 is used to collect road condition information when the target vehicle obtains an overtaking instruction, and the road condition information includes lane information;

[0128] A first judgment unit 302 is used to judge whether the target vehicle is in a two-way single lane according to the lane information;

[0129] The second judgment unit 303 is used to judge whether there is a first vehicle in the opposite lane if the target vehicle is in a two-way single lane, the first vehicle is a vehicle traveling in the opposite direction of the target vehicle, and the opposite lane is an adjacent lane to the current lane where the target vehicle is located;

[0130] The first determining unit 304 is configured to determine second driving information of the front vehicle group through the vehicle driving video shared by the second vehicle in the current lane if there is no first vehicle in the opposite lane, and determine a merging position according to the second driving information, so that the target vehicle overtakes according to the merging position, and the second vehicle is the front vehicle of the target vehicle;

[0131] A first detection unit 305 is configured to detect first driving information of the first vehicle if there is a first vehicle in the opposite lane;

[0132] A third judgment unit 306, configured to judge whether a safe overtaking condition is met according to the first driving information and the second driving information;

[0133] A second determining unit 307, configured to enter an overtaking mode and determine a merging position if a safe overtaking condition is met, so that the target vehicle overtakes according to the merging position;

[0134] The fourth judgment unit 308 is used to judge whether there is a third vehicle in the overtaking lane if the target vehicle is not in the two-way single lane, the overtaking lane is an adjacent lane of the current lane, and the third vehicle is a vehicle located in front of the target vehicle;

[0135] The second detection unit 309 is configured to detect third driving information of the third vehicle if there is a third vehicle in the overtaking lane;

[0136] A fifth judgment unit 310, configured to judge whether a safe overtaking condition is met according to the second driving information and the third driving information;

[0137] The third determining unit 311 is configured to enter an overtaking mode and determine a merging position if a safe overtaking condition is met, so that the target vehicle overtakes according to the merging position.

[0138] In this embodiment, the functions performed by each unit are similar to those in the above-mentioned Figure 1 The steps in the method embodiment shown correspond to each other and will not be described in detail here.

[0139] The following is a detailed description of a vehicle control system provided by this application. Figure 4 , Figure 4 Another embodiment of a vehicle control system provided by the present application includes:

[0140] A collection unit 401 is used to collect road condition information when the target vehicle obtains an overtaking instruction, and the road condition information includes lane information;

[0141] A first judgment unit 402 is used to judge whether the target vehicle is in a two-way single lane according to the lane information;

[0142] The second judgment unit 403 is used to judge whether there is a first vehicle in the opposite lane if the target vehicle is in a two-way single lane, the first vehicle is a vehicle traveling in the opposite direction of the target vehicle, and the opposite lane is an adjacent lane to the current lane where the target vehicle is located;

[0143] The first determining unit 404 is configured to determine second driving information of the front vehicle group through the vehicle driving video shared by the second vehicle in the current lane if there is no first vehicle in the opposite lane, and determine a merging position according to the second driving information, so that the target vehicle overtakes according to the merging position, and the second vehicle is the front vehicle of the target vehicle;

[0144] A first detection unit 405 is configured to detect first driving information of the first vehicle if there is a first vehicle in the opposite lane;

[0145] A third judgment unit 406, configured to judge whether a safe overtaking condition is met according to the first driving information and the second driving information;

[0146] A second determining unit 407 is configured to enter an overtaking mode and determine a merging position if a safe overtaking condition is met, so that the target vehicle overtakes according to the merging position;

[0147] The fourth judgment unit 408 is used to judge whether there is a third vehicle in the overtaking lane if the target vehicle is not in the two-way single lane, the overtaking lane is an adjacent lane of the current lane, and the third vehicle is a vehicle located in front of the target vehicle;

[0148] The second detection unit 409 is configured to detect third driving information of the third vehicle if there is a third vehicle in the overtaking lane;

[0149] A fifth judgment unit 410, configured to judge whether a safe overtaking condition is met according to the second driving information and the third driving information;

[0150] The third determining unit 411 is configured to enter an overtaking mode and determine a merging position if a safe overtaking condition is met, so that the target vehicle overtakes according to the merging position.

[0151] Optionally, the vehicle control system further includes:

[0152] The first generating unit 412 is configured to generate an overtaking trajectory according to the merging position, so that the target vehicle performs an overtaking operation according to the overtaking trajectory.

[0153] Optionally, the third determination unit 406 is specifically configured to:

[0154] determining first speed information of the first vehicle according to the first driving information;

[0155] determining a merging position according to the second driving information;

[0156] determining whether a first distance between the first vehicle and the target vehicle is greater than a second distance, the second distance being a distance between the target vehicle and a merging position;

[0157] If the first distance is greater than the second distance, determining a first duration according to the first speed information and a third distance, the third distance being the distance between the first vehicle and the merging position, and the first duration being the duration for the first vehicle to travel to the merging position;

[0158] Determine whether the first time duration is greater than a second time duration, where the second time duration is the time duration for the target vehicle to travel to the merging position;

[0159] If the first duration is greater than the second duration, it is determined that the safe overtaking condition is met.

[0160] Optionally, the first determining unit 404 is specifically configured to:

[0161] Determine whether the distance between two adjacent vehicles in the front vehicle group is greater than a safety distance threshold;

[0162] If it is greater than the safety distance threshold, the position between the two adjacent vehicles is determined to be the merging position.

[0163] Optionally, the vehicle control system further includes:

[0164] The second generating unit 413 is configured to generate a dangerous overtaking warning if the safe overtaking condition is not met.

[0165] Optionally, the second determining unit 403 is specifically configured to:

[0166] The laser radar and TOF camera are used to determine whether there is a first vehicle in the opposite lane.

[0167] Optionally, the first driving information includes driving direction information and speed information of the first vehicle.

[0168] In this embodiment, the functions performed by each unit are similar to those in the above-mentioned Figure 2 The steps in the method embodiment shown correspond to each other and will not be described in detail here.

[0169] This application also provides a vehicle control system, see Figure 5 , Figure 5 An embodiment of a vehicle control system provided by the present application includes:

[0170] Processor 501, memory 502, input and output unit 503, bus 504;

[0171] The processor 501 is connected to the memory 502, the input and output unit 503 and the bus 504;

[0172] The memory 502 stores a program, and the processor 501 calls the program to execute any of the above vehicle control methods.

[0173] The present application also relates to a computer-readable storage medium, on which a program is stored. When the program is run on a computer, the computer executes any one of the above vehicle control methods.

[0174] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0175] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0176] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0177] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0178] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk, etc. Various media that can store program codes.

Claims

1. A vehicle control method, characterized in that: The vehicle control method comprises: When the target vehicle obtains an overtaking instruction, road condition information is collected, and the road condition information includes lane information; Determining whether the target vehicle is in a two-way single lane according to the lane information; If the target vehicle is in a two-way single lane, determine whether there is a first vehicle in the opposite lane, the first vehicle is a vehicle traveling in the opposite direction of the target vehicle, and the opposite lane is an adjacent lane to the current lane where the target vehicle is located; If there is no first vehicle in the opposite lane, second driving information of the front vehicle group is determined through the vehicle driving video shared by the second vehicle in the current lane, and a merging position is determined according to the second driving information, so that the target vehicle overtakes according to the merging position, and the second vehicle is the front vehicle of the target vehicle; If there is a first vehicle in the oncoming lane, detecting first driving information of the first vehicle; determining whether a safe overtaking condition is met according to the first driving information and the second driving information; If the safe overtaking condition is met, the overtaking mode is entered and a merging position is determined so that the target vehicle overtakes according to the merging position; If the target vehicle is not in a two-way single lane, determine whether there is a third vehicle in the overtaking lane, the overtaking lane is an adjacent lane to the current lane, and the third vehicle is a vehicle located in front of the target vehicle; If there is a third vehicle in the overtaking lane, detecting third driving information of the third vehicle; determining whether a safe overtaking condition is met according to the second driving information and the third driving information; If the safe overtaking condition is met, the overtaking mode is entered and a merging position is determined so that the target vehicle overtakes according to the merging position.

2. The vehicle control method according to claim 1, characterized in that: After entering the overtaking mode and determining the merging position, the vehicle control method further includes: An overtaking trajectory is generated according to the merging position, so that the target vehicle performs an overtaking operation according to the overtaking trajectory.

3. The vehicle control method according to claim 1, characterized in that: The determining whether the safe overtaking condition is met according to the first driving information and the second driving information includes: determining first speed information of the first vehicle according to the first driving information; determining a merging position according to the second driving information; determining whether a first distance between a first vehicle and the target vehicle is greater than a second distance, the second distance being a distance between the target vehicle and a merging position; If the first distance is greater than the second distance, determining a first duration according to the first speed information and a third distance, wherein the third distance is the distance between the first vehicle and the merging position, and the first duration is the duration for the first vehicle to travel to the merging position; Determining whether the first time duration is greater than a second time duration, where the second time duration is the time duration for the target vehicle to travel to the merging position; If the first time duration is greater than the second time duration, it is determined that the safe overtaking condition is met.

4. The vehicle control method according to claim 1, characterized in that: Determining the merging position according to the second driving information includes: Determine whether the distance between two adjacent vehicles in the front vehicle group is greater than a safety distance threshold; If it is greater than the safety distance threshold, the position between the two adjacent vehicles is determined to be the merging position.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: After determining whether the safe overtaking condition is met according to the first driving information and the second driving information, the vehicle control method further includes: If the safe overtaking conditions are not met, a dangerous overtaking warning is generated.

6. The vehicle control method according to any one of claims 1 to 4, characterized in that: The determining whether there is a first vehicle in the opposite lane, where the first vehicle is a vehicle traveling in the opposite direction of the target vehicle, comprises: The laser radar and TOF camera are used to determine whether there is a first vehicle in the opposite lane.

7. The vehicle control method according to any one of claims 1 to 4, characterized in that: The first driving information includes driving direction information and speed information of the first vehicle.

8. A vehicle control system, characterized in that: The vehicle control system comprises: A collection unit, used to collect road condition information when the target vehicle obtains an overtaking instruction, wherein the road condition information includes lane information; A first judgment unit, used for judging whether the target vehicle is in a two-way single lane according to the lane information; A second judgment unit is used to judge whether there is a first vehicle in an opposite lane if the target vehicle is in a two-way single lane, the first vehicle being a vehicle traveling in the opposite direction of the target vehicle, and the opposite lane being an adjacent lane to the current lane where the target vehicle is located; a first determining unit, configured to determine second driving information of a front vehicle group through a vehicle driving video shared by a second vehicle in a current lane if the first vehicle does not exist in the opposite lane, and determine a merging position according to the second driving information, so that the target vehicle overtakes according to the merging position, the second vehicle being a front vehicle of the target vehicle; a first detection unit, configured to detect first driving information of a first vehicle if there is a first vehicle in the opposite lane; a third judgment unit, configured to judge whether a safe overtaking condition is met according to the first driving information and the second driving information; a second determining unit, configured to enter an overtaking mode and determine a merging position if a safe overtaking condition is met, so that the target vehicle overtakes according to the merging position; a fourth judgment unit, configured to judge whether there is a third vehicle in an overtaking lane if the target vehicle is not in a two-way single lane, the overtaking lane being an adjacent lane of the current lane, and the third vehicle being a vehicle located in front of the target vehicle; a second detection unit, configured to detect third driving information of the third vehicle if there is a third vehicle in the overtaking lane; a fifth judgment unit, configured to judge whether a safe overtaking condition is met according to the second driving information and the third driving information; The third determining unit is configured to enter an overtaking mode and determine a merging position if a safe overtaking condition is met, so that the target vehicle overtakes according to the merging position.

9. The vehicle control system according to claim 8, characterized in that: The vehicle control system further comprises: The first generating unit is used to generate an overtaking trajectory according to the merging position, so that the target vehicle performs an overtaking operation according to the overtaking trajectory.

10. The vehicle control system according to claim 8, characterized in that: The third judgment unit is specifically used for: determining first speed information of the first vehicle according to the first driving information; determining a merging position according to the second driving information; determining whether a first distance between a first vehicle and the target vehicle is greater than a second distance, the second distance being a distance between the target vehicle and a merging position; If the first distance is greater than the second distance, determining a first duration according to the first speed information and a third distance, wherein the third distance is the distance between the first vehicle and the merging position, and the first duration is the duration for the first vehicle to travel to the merging position; Determining whether the first time duration is greater than a second time duration, where the second time duration is the time duration for the target vehicle to travel to the merging position; If the first time duration is greater than the second time duration, it is determined that the safe overtaking condition is met.

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