A method, apparatus, system, and medium for automatically driving to avoid a parallel cart

Abstract

The application provides a method, device, system and medium for automatic driving to avoid parallel large vehicles, which comprises: merging the large vehicle target into the vehicle fleet target when the vehicle speed and the vehicle distance are within the preset value within the preset time length; calculating the predicted parallel time length of the ego vehicle and the vehicle fleet target; calculating the ego vehicle acceleration when the ego vehicle accelerates to avoid the vehicle fleet target, and accelerating the ego vehicle speed to the ego vehicle acceleration target speed according to the ego vehicle acceleration; calculating the ego vehicle deceleration when the ego vehicle decelerates to avoid the vehicle fleet target, and decelerating the ego vehicle to the target following distance according to the ego vehicle deceleration. The continuous large vehicle fleet target is fused to make the overall function triggering more complete and avoid the driving discomfort caused by the frequent acceleration and deceleration of the ego vehicle. The predicted parallel time length more truly reflects the motion relationship between the ego vehicle and the vehicle fleet target, and unnecessary avoidance is avoided. The acceleration and deceleration are managed according to the lane information and the vehicle information around the ego vehicle, and the driving safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a method, device, system and medium for automatic driving to avoid large vehicles in parallel. BACKGROUND

[0002] With the continuous development of vehicle automatic driving, the automobile manufacturers pay more and more attention to it, and more and more vehicle models are equipped with automatic driving systems.

[0003] Correspondingly, the manufacturers and vehicle owners also have higher and higher requirements for the intelligent level of the vehicles, and the automatic driving function also gradually develops from the L2 level automatic driving such as pure adaptive cruise control (ACC, Adaptive Cruise Control) to the L2.5 level automatic driving with navigation function.

[0004] To meet the functional requirements of high-level automatic driving, the vehicle perception level has been greatly improved from the combination of single radar and single camera to the combination of multiple radars and multiple cameras, and the detectable environmental targets have been upgraded from single front target to multiple targets around the vehicle. At the same time, the introduction of high-precision maps enables the ego vehicle to obtain more road environment information for behavior decision-making.

[0005] However, the current adaptive cruise control system pays less attention to the state of vehicles in the adjacent lane, which leads to the risk of long-term parallel driving of the ego vehicle with large vehicles in the adjacent lane, causing a great driving pressure on the driver and affecting the driving safety. SUMMARY

[0006] In view of this, this summary section is provided to introduce the concepts in a simplified form, which will be described in detail in the specific embodiments section. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0007] The purpose of the present application is to provide a method, device, system and medium for automatic driving to avoid large vehicles in parallel, which can avoid large vehicles in parallel in the adjacent lane in time and improve driving safety.

[0008] To achieve the above-mentioned purpose, the present application has the following technical solutions:

[0009] In a first aspect, the embodiments of the present application provide a method for automatic driving to avoid large vehicles in parallel, comprising:

[0010] obtaining adjacent lane vehicle information; comparing the adjacent lane vehicle information with preset vehicle type information to screen out large vehicle targets;

[0011] When the vehicle detects large vehicle targets both in front of and behind it, the vehicle speed and distance of the large vehicle targets are obtained; when the vehicle speed and distance are within a preset value within a preset time period, the large vehicle targets are merged into the fleet targets.

[0012] The predicted parallel duration between the vehicle and the convoy target is calculated based on the absolute value of the difference between the distance between the front and rear of the vehicle and the convoy target along the driving direction, the speed of the vehicle, and the speed of the convoy target; the speed of the convoy target is the speed of the foremost large vehicle among the large vehicle targets.

[0013] When the vehicle accelerates to avoid the convoy target, the minimum value among the vehicle's set speed multiplied by the set speed gain coefficient, the road speed limit, and the curve speed limit is used as the vehicle's acceleration target speed.

[0014] The vehicle acceleration is calculated based on the preset acceleration ratio coefficient, the target vehicle speed, the vehicle speed, and the pre-judged acceleration level coefficient. The vehicle speed is then increased to the target vehicle speed based on the vehicle acceleration to accelerate and avoid the target vehicle in the convoy.

[0015] When the vehicle decelerates to avoid the target in the convoy, the vehicle deceleration is calculated based on a preset deceleration ratio coefficient, the distance between the vehicle and the target in the driving direction, the target following distance, the vehicle speed, and the target speed. The vehicle decelerates to reduce the distance between itself and the target following distance based on the vehicle deceleration, so as to decelerate and avoid the target in the convoy.

[0016] In one possible implementation, the vehicle acceleration is calculated based on a preset acceleration ratio coefficient, the target vehicle speed, the vehicle speed, and a pre-determined acceleration level coefficient, specifically using the following formula:

[0017] a Acc =k3*(v Tgt -v Ego )*k Lvl ;

[0018] Among them, a Acc Let k3 be the vehicle acceleration, k3 be the preset acceleration ratio coefficient, and v be the vehicle acceleration. Tgt v is the target vehicle speed for the vehicle to accelerate. Ego Let k be the speed of the vehicle. Lvl The acceleration level coefficient is the one that is predicted.

[0019] In a possible implementation, the self-vehicle deceleration is calculated according to the preset deceleration proportion coefficient, the distance between the self-vehicle and the platoon target along the driving direction, the target following distance, the self-vehicle speed and the platoon target speed, specifically calculated by the following formula:

[0020] a Dece =k1*(d Tuk -d Tgt )+k2*(v Ego -v Tuk );

[0021] wherein a Dece is the self-vehicle deceleration, k1 and k2 are the preset deceleration proportion coefficients, d Tuk is the distance between the self-vehicle and the platoon target along the driving direction, d Tgt is the target following distance, v Ego is the self-vehicle speed, and v Tuk is the platoon target speed.

[0022] In a possible implementation, the deceleration avoidance is determined by the following steps:

[0023] When the self-vehicle speed is greater than or equal to a first vehicle speed, the self-vehicle does not request braking, the distance between the self-vehicle and the platoon target along the driving direction is less than or equal to a first distance, the predicted parallel duration is greater than or equal to a first duration, and the vehicle speed is within the preset value within the preset duration, the deceleration avoidance is determined to be performed.

[0024] In a possible implementation, the acceleration avoidance is determined by the following steps:

[0025] When the deceleration avoidance is performed, there is no vehicle within a second distance in front of and on the side of the self-vehicle, the platoon target does not drive on the side lane line of the self-vehicle driving lane, the predicted parallel duration is less than or equal to a second duration, and there is no ramp entrance within a third distance in front of the self-vehicle, the acceleration avoidance is determined to be performed.

[0026] In a possible implementation, the pre-determined acceleration level coefficient is determined by the following steps:

[0027] The pre-determined acceleration level coefficient is calculated according to the distance between the self-vehicle and the platoon target perpendicular to the driving direction, and the speed of the vehicle in front of the self-vehicle and the speed limit of the overtaking lane.

[0028] In a possible implementation, the method further comprises:

[0029] When it is detected that the vehicle speed of the vehicle in front of the ego vehicle is lower than the vehicle speed of the large vehicle target in front by more than a preset threshold, the vehicle speed of the vehicle in front of the ego vehicle is lower than the lane speed limit by more than a preset threshold, or the distance between the large vehicle target in front and the driving lane of the ego vehicle is lower than a preset distance, the acceleration of the ego vehicle is reduced by a preset level.

[0030] In a second aspect, the embodiments of the present application provide a device for automatic driving to avoid a large vehicle in parallel, comprising:

[0031] The screening unit is configured to acquire the information of the vehicle in the adjacent lane, and compare the information of the vehicle in the adjacent lane with preset vehicle type information to screen out a large vehicle target.

[0032] The merging unit is configured to acquire the vehicle speed and the vehicle distance of the large vehicle target when it is detected that the front and rear sides of the ego vehicle are both the large vehicle target, and merge the large vehicle target as a vehicle platoon target when the vehicle speed and the vehicle distance are within a preset value within a preset time length.

[0033] The prediction unit is configured to calculate a predicted parallel duration of the ego vehicle and the vehicle platoon target according to an absolute value of a difference between a head distance and a tail distance of the ego vehicle and the vehicle platoon target along a driving direction, a speed of the ego vehicle, and a speed of the vehicle platoon target, wherein the speed of the vehicle platoon target is a speed of a frontmost large vehicle in the large vehicle target.

[0034] The vehicle speed unit is configured to, when the ego vehicle performs acceleration to avoid the vehicle platoon target, calculate a target acceleration speed of the ego vehicle according to a value of a set speed of the ego vehicle multiplied by a set speed gain coefficient, a minimum value of a road speed limit value and a curve speed limit value, and accelerate the ego vehicle to the target acceleration speed of the ego vehicle according to the target acceleration speed of the ego vehicle.

[0035] The acceleration unit is configured to calculate the acceleration of the ego vehicle according to a preset acceleration proportion coefficient, the target acceleration speed of the ego vehicle, the speed of the ego vehicle, and a pre-judged acceleration level coefficient, and accelerate the speed of the ego vehicle to the target acceleration speed of the ego vehicle according to the acceleration of the ego vehicle to perform acceleration to avoid the vehicle platoon target.

[0036] The deceleration unit is configured to, when the ego vehicle performs deceleration to avoid the vehicle platoon target, calculate a deceleration of the ego vehicle according to a preset deceleration proportion coefficient, a distance between the ego vehicle and the vehicle platoon target along the driving direction, a target following distance, the speed of the ego vehicle, and the speed of the vehicle platoon target, and decelerate the ego vehicle to the target following distance according to the deceleration of the ego vehicle to perform deceleration to avoid the vehicle platoon target.

[0037] In a possible implementation, the acceleration unit is specifically configured to calculate the acceleration of the ego vehicle, and the acceleration of the ego vehicle is calculated by the following formula:

[0038] a Acc= k3 * (v Tgt -v Ego ) * k Lvl ;

[0039] wherein, a Acc is the acceleration of the ego vehicle, k3 is the preset acceleration ratio coefficient, v Tgt is the ego vehicle acceleration target speed, v Ego is the ego vehicle speed, k Lvl is the pre-judged acceleration level coefficient.

[0040] In a third aspect, the embodiments of the present application provide a system for automatic driving to avoid large vehicles in parallel, comprising:

[0041] a memory for storing a computer program;

[0042] a processor for executing the computer program to implement the steps of the method for automatic driving to avoid large vehicles in parallel as described above.

[0043] In a fourth aspect, the embodiments of the present application provide a computer readable medium, wherein the computer readable medium stores a computer program, and the computer program is executed by a processor to implement the steps of the method for automatic driving to avoid large vehicles in parallel as described above.

[0044] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0045] The embodiment of the application provides a method, device, system and medium for automatic driving to avoid parallel large vehicles, which comprises the following steps: acquiring side lane vehicle information; comparing the side lane vehicle information with preset vehicle type information to screen out large vehicle targets; when it is detected that the front side and the rear side of the ego vehicle are both large vehicle targets, acquiring the speed and the distance of the large vehicle targets; when the speed and the distance are within the preset value within a preset time length, merging the large vehicle targets as a vehicle fleet target; according to the absolute value of the difference between the head distance and the tail distance of the ego vehicle and the vehicle fleet target along the driving direction, the speed of the ego vehicle and the speed of the vehicle fleet target, the predicted parallel time length of the ego vehicle and the vehicle fleet target is calculated; the speed of the vehicle fleet target is the speed of the frontmost large vehicle in the large vehicle targets; when the ego vehicle accelerates to avoid the vehicle fleet target, the minimum value of the ego vehicle set speed multiplied by the set speed gain coefficient, the road speed limit value and the bend speed limit value is taken as the ego vehicle acceleration target speed; according to the preset acceleration proportion coefficient, the ego vehicle acceleration target speed, the ego vehicle speed and the pre-judged acceleration level coefficient, the ego vehicle acceleration is calculated, and the ego vehicle speed is accelerated to the ego vehicle acceleration target speed according to the ego vehicle acceleration, so as to accelerate to avoid the vehicle fleet target; when the ego vehicle decelerates to avoid the vehicle fleet target, the ego vehicle deceleration is calculated according to the preset deceleration proportion coefficient, the distance between the ego vehicle and the vehicle fleet target along the driving direction, the target following distance, the ego vehicle speed and the vehicle fleet target speed, and the ego vehicle is decelerated to the target following distance according to the ego vehicle deceleration, so as to decelerate to avoid the vehicle fleet target. The application fuses the continuous large vehicle fleet target, so that the overall function triggering is higher, and the frequent acceleration and deceleration of the ego vehicle caused by repeated function triggering is avoided to cause driving discomfort. The predicted parallel time length is used as the core index of the control instruction, which more truly reflects the motion relationship between the ego vehicle and the vehicle fleet target, avoids unnecessary triggering and braking when the speed difference between the ego vehicle and the vehicle fleet target is high, and makes the function more comfortable and intelligent. The acceleration and deceleration are managed according to the map lane information and the vehicle information around the ego vehicle, defensive driving is performed, and the driving safety is improved. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0047] The above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the original and elements are not necessarily drawn according to the scale.

[0048] Figure 1A flow chart of a method for automatic driving to avoid parallel large vehicles is shown.

[0049] Figure 2 A module structure schematic diagram of a control system for automatic driving to avoid parallel large vehicles is shown.

[0050] Figure 3 A schematic diagram of a device for automatic driving to avoid parallel large vehicles is shown. DETAILED DESCRIPTION

[0051] To make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0052] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in other ways different from those described herein without departing from the spirit and scope of the present application, and those skilled in the art can make similar extensions without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0053] As described in the background, with the continuous development of vehicle automatic driving, the automobile manufacturers pay more and more attention to it, and the vehicle models equipped with automatic driving system are also increasing.

[0054] Correspondingly, the manufacturers and car owners also have higher requirements for the intelligence level, and the automatic driving function also develops from simple L2 level automatic driving such as adaptive cruise control (ACC) to L2.5 level automatic driving with navigation function.

[0055] To meet the functional requirements of high-level automatic driving, the vehicle perception level has been greatly improved, from a combination of single radar and single camera to a combination of multiple radars and multiple cameras, and the detectable environmental targets have been upgraded from single front target to multiple targets around the vehicle. At the same time, the introduction of high-precision maps enables the ego vehicle to obtain more road environment information for behavior decision-making.

[0056] However, the current adaptive cruise control system pays less attention to the state of vehicles in the adjacent lane, which leads to the risk of long-term parallel driving with large vehicles in the adjacent lane, causing a great driving pressure on the driver and affecting the driving safety.

[0057] To solve the above technical problems, the embodiment of the present application provides a method, device, system and medium for automatic driving to avoid large vehicles in parallel, which comprises the following steps: acquiring side lane vehicle information; comparing the side lane vehicle information with preset vehicle type information to screen out large vehicle targets; when it is detected that the side front and the side rear of the ego vehicle are both large vehicle targets, acquiring the speed and the distance of the large vehicle targets; when the speed and the distance are within the preset value within a preset time length, merging the large vehicle targets as a vehicle fleet target; according to the absolute value of the difference between the head distance and the tail distance of the ego vehicle and the vehicle fleet target along the driving direction, the speed of the ego vehicle and the speed of the vehicle fleet target, calculating the predicted parallel time length of the ego vehicle and the vehicle fleet target; the speed of the vehicle fleet target is the speed of the frontmost large vehicle in the large vehicle targets; when the ego vehicle accelerates to avoid the vehicle fleet target, taking the minimum value of the ego vehicle set speed multiplied by the set speed gain coefficient, the road speed limit value and the bend speed limit value as the ego vehicle acceleration target speed; according to the preset acceleration proportion coefficient, the ego vehicle acceleration target speed, the ego vehicle speed and the pre-judged acceleration level coefficient, calculating the ego vehicle acceleration, and accelerating the ego vehicle speed to the ego vehicle acceleration target speed according to the ego vehicle acceleration, so as to accelerate to avoid the vehicle fleet target; when the ego vehicle decelerates to avoid the vehicle fleet target, calculating the ego vehicle deceleration according to the preset deceleration proportion coefficient, the distance between the ego vehicle and the vehicle fleet target along the driving direction, the target following distance, the ego vehicle speed and the vehicle fleet speed, and decelerating the ego vehicle to the target following distance according to the ego vehicle deceleration, so as to decelerate to avoid the vehicle fleet target. The present application fuses the continuous large vehicle fleet target, so that the overall function triggering is higher, and the frequent acceleration and deceleration of the ego vehicle caused by repeated function triggering is avoided to cause driving discomfort. The predicted parallel time length is used as the core index of the control instruction, which more truly reflects the motion relationship between the ego vehicle and the vehicle fleet target, avoids unnecessary triggering and braking when the speed difference between the ego vehicle and the vehicle fleet target is high, and makes the function more comfortable and intelligent. The acceleration and deceleration are managed according to the map lane information and the vehicle information around, defensive driving is performed, and the driving safety is improved.

[0058] Exemplary method

[0059] Referring to Figure 1 As shown in the flowchart of the method for automatic driving to avoid large vehicles in parallel provided by the embodiment of the present application, the method comprises the following steps:

[0060] S101: acquiring side lane vehicle information; comparing the side lane vehicle information with preset vehicle type information to screen out large vehicle targets.

[0061] S102: when it is detected that the side front and the side rear of the ego vehicle are both large vehicle targets, acquiring the speed and the distance of the large vehicle targets; when the speed and the distance are within the preset value within a preset time length, merging the large vehicle targets as a vehicle fleet target.

[0062] In the embodiment of the present application, as the environmental target detection capability and accuracy are improved, the adaptive cruise control function is no longer limited to the target in the lane of the vehicle, and the target in the adjacent lane can also be considered in the function, so that the function can intelligently avoid the risk vehicle existing on the side under the premise of ensuring the original cruise and following performance. While maintaining a safe distance from the front target, the risk vehicle such as a large vehicle existing on the side is avoided for a long time, the oppression of the driver is reduced, and the driving safety is improved.

[0063] Therefore, in the embodiment of the present application, the vehicle information in the adjacent lane is first acquired, and the vehicle information in the adjacent lane is compared with the preset vehicle type information to screen out the large vehicle target.

[0064] Specifically, the vehicle information in the adjacent lane can be acquired by the perception system, and the large vehicle target is screened out from the vehicle information in the adjacent lane according to the preset vehicle type information. The large vehicle target can be a vehicle such as a truck or a bus, which has a larger volume than a car and is easy to cause driving oppression.

[0065] In the embodiment of the present application, when it is detected that the front and rear sides of the ego vehicle are both large vehicle targets, the speed and distance of the large vehicle targets can be further acquired; when the speed and distance are within the preset value within the preset time length, the large vehicle targets are merged as a vehicle platoon target.

[0066] Specifically, when it is found after screening that the vehicles on the front side and the rear side of the ego vehicle are both large vehicles, whether the adjacent large vehicles are fused as a vehicle platoon target is determined according to whether the relative distance relationship between the large vehicles meets the following conditions in a future period of time:

[0067] (1) The front large vehicle and the rear large vehicle are close (within the preset distance) and the distance between the two vehicles will not be significantly far away in a future period of time; or the front large vehicle and the rear large vehicle are far away and the distance between the two vehicles will be significantly close in a future period of time (within the preset time length); (2) The speed of the front large vehicle and the rear large vehicle is close (within the preset speed).

[0068] When the above conditions are met, the adjacent large vehicles in front and rear are fused as a vehicle platoon. In the process of the ego vehicle traveling, the information of the vehicle platoon is adjusted in real time according to the perception information. When a new large vehicle target enters the front side or the rear side of the ego vehicle, the original large vehicle target far away from the front side or the rear side of the ego vehicle is replaced, so that the rolling update of the vehicle platoon target is realized.

[0069] S103: According to the absolute value of the difference between the head distance and the tail distance of the ego vehicle and the vehicle platoon target along the driving direction, the speed of the ego vehicle and the speed of the vehicle platoon target, the predicted parallel time length of the ego vehicle and the vehicle platoon target is calculated. The speed of the vehicle platoon target is the speed of the frontmost large vehicle in the large vehicle target.

[0070] In the embodiments of the present application, when the large vehicles are fused into a vehicle group target, the identification number of the vehicle group target is the identification number of the frontmost large vehicle, the vehicle group target head distance is the distance from the head of the frontmost large vehicle to the ego vehicle, the vehicle group target tail distance is the distance from the tail of the last large vehicle to the ego vehicle, the vehicle group target lateral distance is the smaller value of the lateral distance of the large vehicles, the vehicle group target length is the distance from the head of the frontmost large vehicle to the tail of the last large vehicle, the vehicle group target width is the larger value of the width of the large vehicles, the vehicle group target speed is the speed of the frontmost large vehicle, and the vehicle group target acceleration is the larger absolute value of the acceleration of the large vehicles.

[0071] Specifically, the predicted parallel duration of the ego vehicle and the vehicle group target can be calculated according to the absolute value of the difference between the head distance and the tail distance of the ego vehicle and the vehicle group target along the driving direction, the speed of the ego vehicle and the speed of the vehicle group target. The speed of the vehicle group target is the speed of the frontmost large vehicle in the large vehicle target.

[0072] d Far = d Tuk + l Tuk + v Ego * t

[0073]

[0074] T = (d Far - d Near ) / (v Ego - v Tuk )

[0075] wherein d Far is the far point distance of the ego vehicle and the vehicle group target along the driving direction, d Near is the near point distance of the ego vehicle and the vehicle group target along the driving direction, d Tuk is the distance of the ego vehicle and the vehicle group target along the driving direction, l Tuk is the length of the vehicle group target, t is a preset compensation time interval, v Ego is the speed of the ego vehicle, and v Tuk is the speed of the vehicle group target.

[0076] S104: When the ego vehicle accelerates to avoid the vehicle group target, the minimum value of the product of the set speed of the ego vehicle and a set speed gain coefficient, the road speed limit value and the curve speed limit value is taken as the acceleration target speed of the ego vehicle.

[0077] S105: Calculate the vehicle acceleration based on the preset acceleration ratio coefficient, the target vehicle speed, the vehicle speed, and the pre-judged acceleration level coefficient. Accelerate the vehicle speed to the target vehicle speed based on the vehicle acceleration to accelerate and avoid the convoy target.

[0078] S106: When the vehicle decelerates to avoid the target of the convoy, the vehicle deceleration is calculated based on the preset deceleration ratio coefficient, the distance between the vehicle and the target of the convoy along the driving direction, the target following distance, the vehicle speed and the target speed of the convoy. The vehicle decelerates to reduce the distance between the vehicle and the target following distance based on the vehicle deceleration, so as to decelerate and avoid the target of the convoy.

[0079] In this embodiment, when decelerating to avoid a collision, the control target is for the vehicle to follow the target at the same speed as the target at a certain distance behind the target; when accelerating to overtake, the control target is for the vehicle to accelerate through the target at the speed of the overtaking target, and then slide to decelerate back to the vehicle's actual target speed after exceeding the target by a certain distance.

[0080] Specifically, when the vehicle accelerates to avoid a convoy of vehicles, the target acceleration speed is determined by the minimum of the vehicle's set speed multiplied by the set speed gain coefficient, the road speed limit, and the curve speed limit. This target speed is calculated using the following formula:

[0081] v Tgt =Min(v) Set *Gx,v Road v Bend )

[0082] Where v Set To set the vehicle speed, Gx is the speed gain coefficient, and v Road v is the speed limit value for the road. Bend This is the minimum speed limit value for curves.

[0083] Based on the preset acceleration ratio coefficient, the target speed of the vehicle, the vehicle speed, and the pre-judged acceleration level coefficient, the vehicle acceleration is calculated. The vehicle speed is then increased to the target speed based on the vehicle acceleration to accelerate and avoid the target vehicle in the convoy.

[0084] Specifically, it is calculated using the following formula:

[0085] a Acc =k3*(v Tgt -v Ego )*k Lvl ;

[0086] Among them, a Accis the acceleration of the ego vehicle, k3 is a preset acceleration proportionality coefficient, v Tgt is the target speed of the ego vehicle acceleration, v Ego is the speed of the ego vehicle, k Lvl is a pre-judgment acceleration level coefficient.

[0087] Optionally, to avoid the risk of collision with the front vehicle during the ego vehicle's avoidance or overtaking process and to ensure driving safety, the calculated ego vehicle acceleration is taken as the final output ego vehicle control acceleration by taking the minimum value of the following three values: the calculated ego vehicle acceleration, the following vehicle acceleration, and the acceleration limit speed on the curve.

[0088] When the ego vehicle is performing deceleration avoidance on the target vehicle group, the ego vehicle deceleration can be calculated according to a preset deceleration proportionality coefficient, the distance between the ego vehicle and the target vehicle group along the driving direction, the target following distance, the speed of the ego vehicle, and the speed of the target vehicle group, and the ego vehicle is decelerated to the target following distance according to the ego vehicle deceleration to perform deceleration avoidance on the target vehicle group.

[0089] The ego vehicle deceleration a is calculated by the following formula:

[0090] a Dece = k1 * (d Tuk -d Tgt ) + k2 * (v Ego -v Tuk );

[0091] wherein a Dece is the ego vehicle deceleration, k1 and k2 are preset deceleration proportionality coefficients, d Tuk is the distance between the ego vehicle and the target vehicle group along the driving direction, d Tgt is the target following distance, v Ego is the speed of the ego vehicle, and v Tuk is the speed of the target vehicle group.

[0092] In one possible implementation, the deceleration avoidance performed by the embodiment of the present application can be determined by the following steps:

[0093] When the speed of the ego vehicle is greater than or equal to a first speed, the ego vehicle is not requested to brake, the distance between the ego vehicle and the target vehicle group along the driving direction is less than or equal to a first distance, the predicted parallel duration is greater than or equal to a first duration, and the vehicle speed is within a preset value within a preset duration, the ego vehicle is determined to perform deceleration avoidance.

[0094] Specifically, when the ego vehicle is stably driving at a high speed (greater than or equal to a first speed) and within a certain distance (less than or equal to a first distance) for a long time (greater than or equal to a first duration) calculated by the target vehicle, that is, there is a long-time parallel risk between the ego vehicle and the target vehicle group, the ego vehicle is considered to be decelerated and followed behind the target vehicle group, thereby avoiding long-time parallel.

[0095] On the basis of the deceleration avoidance being activatable, when the space in front of the ego vehicle and the side front space is sufficient, and the ego vehicle travels at a set speed without long parallel risk, the ego vehicle is considered to accelerate to overtake the target of the vehicle fleet, to improve the traffic efficiency while avoiding long parallel risk. However, when the high-precision map is turned on and a ramp merging entrance is detected in front of the ego vehicle, and the ego vehicle is in the merging entrance side lane, the acceleration overtaking under the condition that the merging vehicle cuts into the lane of the ego vehicle is considered to increase the risk of collision, and the activation of the acceleration overtaking instruction is limited. That is, when the following conditions are met, the acceleration overtaking instruction is issued:

[0096] When the deceleration avoidance is performed, and there is no vehicle within the second distance in front of the ego vehicle and the side front, and the target of the vehicle fleet does not press the side lane line of the driving lane of the ego vehicle, and the predicted parallel time is less than or equal to the second time and there is no ramp merging entrance within the third distance in front of the ego vehicle (or the ego vehicle is not in the ramp merging side lane), it is determined to perform acceleration avoidance.

[0097] In one possible implementation, the pre-judgment acceleration level coefficient provided by the embodiment of the present application can be obtained by the following steps:

[0098] According to the distance between the ego vehicle and the target of the vehicle fleet perpendicular to the driving direction, and the speed of the vehicle in front of the ego vehicle and the speed limit of the overtaking lane, the pre-judgment acceleration level coefficient is calculated.

[0099] Specifically, the acceleration level is divided according to the side lane environment information. According to the daily driving habit and the speed limit requirement of the highway lane, the large vehicle usually drives in the right lane. Therefore, when the lane of the ego vehicle is closer to the right lane, the probability of the large vehicle cutting into the lane of the ego vehicle is greater. Therefore, according to the lane position of the ego vehicle on the highway, the acceleration is divided into three levels, which is lower when closer to the right lane and higher when closer to the left lane. In addition, when it is detected that the speed of the vehicle in front of the ego vehicle is lower than the speed of the large target in front of the ego vehicle by more than a preset threshold, the speed of the vehicle in front of the ego vehicle is lower than the speed limit of the lane by more than a preset threshold, or the distance between the large target in front of the ego vehicle and the driving lane of the ego vehicle is less than a preset distance, the acceleration of the ego vehicle is reduced by a preset level.

[0100] That is, in the embodiment of the present application, when one of the following two working conditions is detected, the acceleration level is degraded: (1) the speed of the vehicle in front of the ego vehicle is significantly lower than the speed of the large vehicle in front of the ego vehicle or the speed limit of the lane; (2) the large vehicle in front of the ego vehicle drives in its lane close to the lane of the ego vehicle.

[0101] It should be noted that the preset threshold and the preset level are not specifically limited in the present embodiment, and can be set by those skilled in the art according to the actual situation.

[0102] Reference is made to Figure 2As shown, a module structure schematic diagram of an automatic driving avoidance and parallel large vehicle control system provided by an embodiment of the application, comprising a self-vehicle state information acquisition module 100, a vehicle target information acquisition module 200, a map lane information acquisition module 300, a large vehicle target screening and fusion module 400, a parallel time prediction module 500, an avoidance instruction decision module 600, an acceleration grade division module 700, and an avoidance acceleration calculation module 800.

[0103] Among them, the self-vehicle state information acquisition module 100 is responsible for acquiring the current actual speed, set speed, acceleration, function state and other state information of the self-vehicle; the vehicle target information acquisition module 200 is responsible for acquiring the distance, speed, acceleration, vehicle type and other physical information of the self-vehicle surrounding vehicle target such as the front vehicle target and the side lane target; the map lane information acquisition module 300 is responsible for acquiring the ramp distance and the self-vehicle current lane and other road information given by the high-precision map; the large vehicle target screening and fusion module 400 is responsible for screening the surrounding vehicle information, acquiring the large vehicle target, and performing platoon fusion processing on the adjacent large vehicle target; the parallel time prediction module 500 is responsible for predicting the parallel time of the self-vehicle relative to the target large vehicle; the avoidance instruction decision module 600 is responsible for determining whether to issue a deceleration avoidance or acceleration overtaking instruction through the judgment of the self-vehicle and environmental information; the acceleration grade division module 700 is responsible for determining the acceleration level when accelerating overtaking through the judgment of the environmental information; and the avoidance acceleration calculation module 800 is responsible for calculating the acceleration for controlling the self-vehicle to decelerate or accelerate to avoid.

[0104] In the above automatic driving parallel large vehicle avoidance control system based on multi-target fusion, the vehicle target information acquisition module 200 is connected with the large vehicle target screening and fusion module 400, which is used to screen the large vehicle target from the self-vehicle surrounding vehicle target and perform platoon fusion when necessary. The self-vehicle state information acquisition module 100, the large vehicle target screening and fusion module 400, and the parallel time prediction module 500 are connected, which is used to calculate the predicted parallel time of the self-vehicle when passing through the target large vehicle as the core criterion for determining whether to issue an avoidance instruction. The self-vehicle state information acquisition module 100, the vehicle target information acquisition module 200, the map lane information acquisition module 300, the parallel time prediction module 500, and the avoidance instruction decision module 600 are connected, which is used to determine the deceleration avoidance or acceleration overtaking decision instruction after comprehensively considering various information. The map lane information acquisition module 300, the avoidance instruction decision module 600, and the acceleration grade division module 700 are connected, which is used to determine the acceleration level limit when accelerating overtaking through the road environmental information. The avoidance instruction decision module 600, the acceleration grade division module 700, and the avoidance acceleration calculation module 800 are connected, which is used to finally calculate the self-vehicle acceleration control amount according to the acceleration and deceleration decision instruction and the acceleration level limit.

[0105] The embodiment of the application provides a method for automatic driving to avoid parallel large vehicles, which comprises the following steps: acquiring side lane vehicle information; comparing the side lane vehicle information with preset vehicle type information to screen out large vehicle targets; when it is detected that the side front and the side rear of the ego vehicle are both large vehicle targets, acquiring the vehicle speed and the vehicle distance of the large vehicle targets; when the vehicle speed and the vehicle distance are within a preset value within a preset time length, merging the large vehicle targets as a vehicle fleet target; according to the absolute value of the difference between the head distance and the tail distance of the ego vehicle and the vehicle fleet target along the driving direction, the ego vehicle speed and the vehicle fleet target speed, the predicted parallel time length of the ego vehicle and the vehicle fleet target is calculated; the vehicle fleet target speed is the speed of the frontmost large vehicle in the large vehicle targets; when the ego vehicle accelerates to avoid the vehicle fleet target, the minimum value of the ego vehicle set speed multiplied by the set speed gain coefficient, the road speed limit value and the bend speed limit value is taken as the ego vehicle acceleration target speed; according to the preset acceleration proportion coefficient, the ego vehicle acceleration target speed, the ego vehicle speed and the pre-judged acceleration level coefficient, the ego vehicle acceleration is calculated, and the ego vehicle speed is accelerated to the ego vehicle acceleration target speed according to the ego vehicle acceleration, so as to accelerate to avoid the vehicle fleet target; when the ego vehicle decelerates to avoid the vehicle fleet target, according to the preset deceleration proportion coefficient, the distance between the ego vehicle and the vehicle fleet target along the driving direction, the target following distance, the ego vehicle speed and the vehicle fleet target speed, the ego vehicle deceleration is calculated, and the ego vehicle is decelerated to the target following distance according to the ego vehicle deceleration, so as to decelerate to avoid the vehicle fleet target. The application fuses the continuous large vehicle fleet targets, so that the overall function triggering is higher, and the frequent acceleration and deceleration of the ego vehicle caused by repeated function triggering is avoided, so that the driving is not comfortable. The predicted parallel time length is used as the core index of the control instruction, which more truly reflects the motion relationship between the ego vehicle and the vehicle fleet target, avoids unnecessary triggering and braking when the speed difference between the ego vehicle and the vehicle fleet target is high, and makes the function more comfortable and intelligent. The acceleration and deceleration are managed according to the map lane information and the vehicle information around the ego vehicle, defensive driving is performed, and the driving safety is improved.

[0106] Exemplary device

[0107] Referring to Figure 3 As shown in FIG. 1, the device for automatic driving to avoid parallel large vehicles provided by the embodiment of the application comprises:

[0108] The screening unit 201 is configured to acquire side lane vehicle information; and compare the side lane vehicle information with preset vehicle type information to screen out large vehicle targets.

[0109] The merging unit 202 is configured to, when it is detected that the side front and the side rear of the ego vehicle are both large vehicle targets, acquire the vehicle speed and the vehicle distance of the large vehicle targets; and when the vehicle speed and the vehicle distance are within a preset value within a preset time length, merge the large vehicle targets as a vehicle fleet target.

[0110] The prediction unit 203 is used to calculate the predicted parallel duration between the vehicle and the convoy target based on the absolute value of the difference between the distance between the front and rear of the vehicle and the convoy target along the driving direction, the speed of the vehicle, and the speed of the convoy target; the speed of the convoy target is the speed of the foremost large vehicle among the large vehicle targets.

[0111] The vehicle speed unit 204 is used to determine the target acceleration speed of the vehicle when the vehicle accelerates to avoid the target convoy, based on the minimum value among the vehicle's set speed multiplied by the set speed gain coefficient, the road speed limit, and the curve speed limit.

[0112] The acceleration unit 205 is used to calculate the vehicle acceleration based on a preset acceleration ratio coefficient, the vehicle acceleration target speed, the vehicle speed, and a pre-judged acceleration level coefficient, and accelerate the vehicle speed to the vehicle acceleration target speed based on the vehicle acceleration to accelerate and avoid the vehicle convoy target.

[0113] The deceleration unit 206 is used to calculate the deceleration of the vehicle based on a preset deceleration ratio coefficient, the distance between the vehicle and the target in the driving direction, the target following distance, the vehicle speed, and the target speed when the vehicle decelerates to avoid the target in the convoy. The vehicle decelerates the distance between the vehicle and the target based on the vehicle deceleration to avoid the target in the convoy.

[0114] In one possible implementation, the acceleration unit is specifically used to calculate the vehicle's acceleration using the following formula:

[0115] a Acc =k3*(v Tgt -v Ego )*k Lvl ;

[0116] Among them, a Acc Let k3 be the vehicle acceleration, k3 be the preset acceleration ratio coefficient, and v be the vehicle acceleration. Tgt v is the target vehicle speed for the vehicle to accelerate. Ego Let k be the speed of the vehicle. Lvl The acceleration level coefficient is the one that is predicted.

[0117] The embodiment of the application provides a device for automatic driving to avoid parallel large vehicles, and a method applied to the device, which comprises the following steps of: acquiring side lane vehicle information; comparing the side lane vehicle information with preset vehicle type information to screen out large vehicle targets; when it is detected that the front side and the rear side of the ego vehicle are both large vehicle targets, acquiring the speed and the distance of the large vehicle targets; when the speed and the distance are within preset values within a preset time length, merging the large vehicle targets as a vehicle fleet target; calculating the predicted parallel time length of the ego vehicle and the vehicle fleet target according to the absolute value of the difference between the head distance and the tail distance of the ego vehicle and the vehicle fleet target along the driving direction, the speed of the ego vehicle and the speed of the vehicle fleet target; the speed of the vehicle fleet target is the speed of the frontmost large vehicle in the large vehicle targets; when the ego vehicle performs acceleration to avoid the vehicle fleet target, taking the minimum value of the value of the ego vehicle set speed multiplied by the set speed gain coefficient, the road speed limit value and the bend speed limit value as the ego vehicle acceleration target speed; calculating the ego vehicle acceleration according to the preset acceleration proportion coefficient, the ego vehicle acceleration target speed, the ego vehicle speed and the pre-judged acceleration level coefficient, and accelerating the ego vehicle speed to the ego vehicle acceleration target speed according to the ego vehicle acceleration, so as to accelerate to avoid the vehicle fleet target; when the ego vehicle performs deceleration to avoid the vehicle fleet target, calculating the ego vehicle deceleration according to the preset deceleration proportion coefficient, the distance between the ego vehicle and the vehicle fleet target along the driving direction, the target following distance, the ego vehicle speed and the vehicle fleet speed, and decelerating the ego vehicle to the target following distance according to the ego vehicle deceleration, so as to decelerate to avoid the vehicle fleet target. The application fuses the continuous large vehicle fleet targets, so that the overall function triggering is higher, and the frequent acceleration and deceleration of the ego vehicle caused by repeated function triggering is avoided to cause driving discomfort. The predicted parallel time length is used as the core index of the control instruction, which more truly reflects the motion relationship between the ego vehicle and the vehicle fleet target, avoids unnecessary triggering and braking when the speed difference between the ego vehicle and the vehicle fleet target is high, and makes the function more comfortable and intelligent. The acceleration and deceleration are managed according to the map lane information and the vehicle information around the ego vehicle, defensive driving is performed, and driving safety is improved.

[0118] On the basis of the above embodiment, the embodiment of the application further provides a system for automatic driving to avoid parallel large vehicles, which comprises:

[0119] a memory for storing a computer program;

[0120] a processor for executing the computer program to realize the steps of the method for automatic driving to avoid parallel large vehicles.

[0121] On the basis of the above embodiment, the embodiment of the application further provides a computer readable medium, wherein the computer readable medium stores a computer program, and the computer program is executed by a processor to realize the steps of the method for automatic driving to avoid parallel large vehicles.

[0122] Note that the computer readable medium described above in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium may, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, the computer readable signal medium can include a data signal that propagates in a baseband or as part of a carrier wave in a propagated data signal, in which the computer readable program code is carried. Such a propagated data signal can take many forms, including but not limited to electro-magnetic, optical, or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and that can communicate, transmit, or propagate the program for use by or in connection with the instruction execution system, apparatus, or device. The program code contained in the computer readable medium can be transmitted by any suitable medium, including but not limited to a wire, cable, optical fiber, RF (radio frequency), or any suitable combination thereof.

[0123] The computer readable medium described above can be contained in the system described above; or can exist separately and not be assembled into the system.

[0124] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program comprising program code for performing the methods shown in the flowcharts.

[0125] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be mutually referred to, and each embodiment focuses on the difference from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, they are described more simply, and the relevant parts can be referred to the part of the method embodiments.

[0126] The above description is only the preferred embodiment of the present application, although the present application has been disclosed as above with the preferred embodiment, however, not to limit the present application. Any skilled person in the art, without departing from the scope of the technical scheme of the present application, can utilize the above disclosed methods and technical contents to make many possible changes and modifications to the technical scheme of the present application, or modify as equivalent embodiments of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the content of the technical scheme of the present application, still belongs to the scope of protection of the technical scheme of the present application.

Claims

1. A method for automatically driving a vehicle to avoid a parallel large vehicle, the method comprising: The method comprises the following steps: acquiring side-lane vehicle information; comparing the side-lane vehicle information with preset vehicle type information to screen out large vehicle targets; when it is detected that the front side and the rear side of the ego vehicle are both the large vehicle targets, acquiring the speed and the distance of the large vehicle targets; when the speed and the distance are within preset values within a preset time length, merging the large vehicle targets as a vehicle platoon target; calculating the predicted parallel time length of the ego vehicle and the vehicle platoon target according to the absolute value of the difference between the head distance and the tail distance of the ego vehicle and the vehicle platoon target along the driving direction, the ego vehicle speed and the vehicle platoon target speed; the vehicle platoon target speed is the speed of the frontmost large vehicle in the large vehicle targets; when the ego vehicle performs acceleration to avoid the vehicle platoon target, taking the minimum value of the ego vehicle set speed multiplied by a set speed gain coefficient, the road speed limit value and the curve speed limit value as the ego vehicle acceleration target speed; calculating the ego vehicle acceleration according to a preset acceleration proportion coefficient, the ego vehicle acceleration target speed, the ego vehicle speed and a pre-judged acceleration level coefficient, and accelerating the ego vehicle speed to the ego vehicle acceleration target speed according to the ego vehicle acceleration to perform acceleration to avoid the vehicle platoon target; when the ego vehicle performs deceleration to avoid the vehicle platoon target, calculating the ego vehicle deceleration according to a preset deceleration proportion coefficient, the distance between the ego vehicle and the vehicle platoon target along the driving direction, a target following distance, the ego vehicle speed and the vehicle platoon target speed, and decelerating the ego vehicle to the target following distance according to the ego vehicle deceleration to perform deceleration to avoid the vehicle platoon target.

2. The method of claim 1, wherein, The ego vehicle acceleration is calculated according to the preset acceleration proportion coefficient, the ego vehicle acceleration target speed, the ego vehicle speed and the pre-judged acceleration level coefficient, and is specifically calculated according to the following formula: a Acc = k3 * (v Tgt -v Ego ) * k Lvl ; Wherein, a Acc is the acceleration of the ego vehicle, k3 is the preset acceleration ratio coefficient, v Tgt is the acceleration target speed of the ego vehicle, v Ego is the speed of the ego vehicle, k Lvl is the pre-judged acceleration level coefficient.

3. The method of claim 1, wherein, The ego vehicle deceleration is calculated according to the preset deceleration proportion coefficient, the distance between the ego vehicle and the vehicle platoon target along the driving direction, the target following distance, the ego vehicle speed and the vehicle platoon target speed, and is specifically calculated according to the following formula: a Dece = k1*(d Tuk -d Tgt ) + k2*(v Ego -v Tuk ); wherein a Dece is the self-vehicle deceleration, k1 and k2 are the preset deceleration proportionality coefficients, d Tuk is the distance between the self-vehicle and the platoon target in the driving direction, d Tgt is the target following distance, v Ego is the self-vehicle speed, v Tuk is the platoon target speed.

4. The method of claim 1, wherein, The deceleration to avoid is determined by the following steps: when the ego vehicle speed is greater than or equal to a first speed, the ego vehicle does not request braking, the distance between the ego vehicle and the vehicle platoon target along the driving direction is less than or equal to a first distance, the predicted parallel time length is greater than or equal to a first time length and the speed is within the preset value within the preset time length, the deceleration to avoid is determined.

5. The method of claim 4, wherein, The acceleration to avoid is determined by the following steps: after the deceleration to avoid, when there is no vehicle within a second distance in front of and on the side of the ego vehicle, the vehicle platoon target does not drive on the side lane line of the ego vehicle driving lane, the predicted parallel time length is less than or equal to a second time length and there is no ramp entrance within a third distance in front of the ego vehicle, the acceleration to avoid is determined.

6. The method of claim 1, wherein, The pre-judged acceleration level coefficient is determined by the following steps: According to the distance between the ego vehicle and the target vehicle perpendicular to the driving direction, and the speed of the vehicle in front of the ego vehicle and the speed limit of the overtaking lane, the acceleration level coefficient of the pre-judgment is calculated.

7. The method of claim 1, wherein, Also comprising: When it is detected that the speed of the vehicle in front of the ego vehicle is lower than the speed of the target vehicle by more than a preset threshold, the speed of the vehicle in front of the ego vehicle is lower than the speed limit of the lane by more than a preset threshold, or the distance between the target vehicle and the driving lane of the ego vehicle is less than a preset distance, the acceleration of the ego vehicle is reduced by a preset level.

8. A device for automatically driving a vehicle to avoid a parallel large vehicle, characterized by, Including: The screening unit is used for acquiring the information of the vehicle in the adjacent lane; The information of the vehicle in the adjacent lane is compared with the preset vehicle type information to screen out the target vehicle; The merging unit is used for acquiring the speed and distance of the target vehicle when it is detected that the target vehicle is in front of and behind the ego vehicle; and the target vehicle is merged as a target vehicle when the speed and distance are within a preset value within a preset time period. The prediction unit is used for calculating the predicted parallel time period of the ego vehicle and the target vehicle according to the absolute value of the difference between the head distance and the tail distance of the ego vehicle and the target vehicle along the driving direction, the speed of the ego vehicle and the speed of the target vehicle. The speed of the target vehicle is the speed of the frontmost target vehicle; The speed unit is used for calculating the target speed of the ego vehicle according to the minimum value of the set speed gain coefficient, the road speed limit value and the curve speed limit value when the ego vehicle accelerates to avoid the target vehicle. The acceleration unit is used for calculating the acceleration of the ego vehicle according to the preset acceleration ratio coefficient, the target speed of the ego vehicle, the speed of the ego vehicle and the pre-judgment acceleration level coefficient, and accelerating the speed of the ego vehicle to the target speed of the ego vehicle according to the acceleration of the ego vehicle to avoid the target vehicle. The deceleration unit is used for calculating the deceleration of the ego vehicle according to the preset deceleration ratio coefficient, the distance between the ego vehicle and the target vehicle along the driving direction, the target following distance, the speed of the ego vehicle and the speed of the target vehicle, and decelerating the ego vehicle to the target following distance according to the deceleration of the ego vehicle to avoid the target vehicle.

9. A system for automatically steering a vehicle to avoid a parallel moving cart, the system comprising: Including: The memory is used for storing the computer program; The processor is used for executing the computer program to realize the steps of the method for automatically driving to avoid the parallel target vehicle.

10. A computer readable medium characterized by The computer program is stored on the computer readable medium, and the computer program is executed by the processor to realize the steps of the method for automatically driving to avoid the parallel target vehicle.

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