Driving decision system and method

Abstract

The invention discloses a driving decision-making system and method. The method comprises the following steps: acquiring a road image; detecting whether a lane line exists in the road image; when the lane line does not exist in the obtained road image, identifying a driving area in the road image; and planning a driving strategy according to the driving area. According to the driving decision-making system and method, the problem of single-vehicle driving and meeting decision-making when the current automatic driving vehicle is driven on the lane-line-free narrow road in the rural area or the urban-rural junction is solved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and particularly to a driving decision-making system and method. Background Art

[0002] With the development of autonomous driving technology, motor vehicles can identify appropriate driving lanes under road conditions with clear lane lines and achieve partial autonomous driving functions. However, on sections of the road where the lane lines are blurred or there are no lane lines, the vehicle camera cannot sense the lane lines, and there is no basis for its driving. At this time, if driving continues, there will be certain safety risks and manual driving needs to be switched.

[0003] Currently, most rural roads in our country are not wide enough, and most of them have no lane lines. Even on some roads, there is a large height difference between the road surface and the surrounding soil. Once the vehicle deviates, it will cause certain damage to the vehicle, which poses a huge challenge to the popularization of autonomous driving vehicles in rural areas.

[0004] Application Content

[0005] Aiming at the deficiencies of the existing technology, the purpose of this application is to provide a driving decision-making system and method.

[0006] According to one aspect of this application, a driving decision-making method is provided, including: obtaining a road image; detecting whether there are lane lines in the road image; when there are no lane lines in the obtained road image, identifying the driving area in the road image; and planning a driving strategy according to the driving area.

[0007] Optionally, the method for identifying the driving area in the road image includes: S110: Extracting the edge information of the main road in the road image and drawing the boundary line and the virtual center line of the main road according to the edge information of the main road; S120: Detecting the road surface height difference between the main road and the non-main road and determining the driving area according to the road surface height difference between the main road and the non-main road; where when the road surface height difference between the main road and the non-main road is less than or equal to a first preset value, the non-main road surface is marked as a drivable area, and when the road surface height difference between the main road and the non-main road is greater than the first preset value, the non-main road surface is marked as a non-drivable area.

[0008] Optionally, the method for planning a driving strategy includes: S210: Obtaining the driving width of the vehicle itself; S220: Comparing the driving width with the width of the main road to determine whether the main road meets the driving conditions; where when the driving width is less than or equal to the width of the main road, the main road meets the driving conditions, and when the driving width is greater than the width of the main road, the main road does not meet the driving conditions.

[0009] Optionally, when the main road meets the driving conditions, compare the width of the main road with a preset width, and determine a driving strategy within the main road according to the comparison result; among them, when the width of the main road is less than the preset width, the vehicle drives centered on the virtual center line of the main road, and when the width of the main road is greater than or equal to the preset width, determine a virtual lane within the main road, and the vehicle drives within the virtual lane; the virtual lane of the vehicle is an area at a certain distance from the right boundary line of the main road and with a certain width.

[0010] Optionally, when the main road does not meet the driving conditions, compare the total drivable area width of the main road and non-main road with the driving width, and judge whether the total drivable area of the main road and non-main road meets the driving conditions according to the comparison result; among them, if the total drivable area width of the main road and non-main road is greater than or equal to the driving width, the total drivable area of the main road and non-main road meets the driving conditions, and the vehicle drives centered according to the rule of the largest projected area within the main road; if the total drivable area width of the main road and non-main road is less than the driving width, the total drivable area of the main road and non-main road does not meet the driving conditions.

[0011] Optionally, it further includes the step of detecting whether there is an oncoming vehicle. When no oncoming vehicle is detected, the vehicle drives according to the driving strategy. When an oncoming vehicle is detected, plan a meeting strategy, and the vehicle meets according to the meeting strategy.

[0012] Optionally, among them, the method for planning a meeting strategy includes: S310: Obtain the meeting width of itself and the oncoming vehicle; S320: Compare the meeting width with the width of the main road to judge whether the main road meets the driving conditions. Among them, when the meeting width is less than or equal to the width of the main road, the main road meets the meeting conditions; when the meeting width is greater than the width of the main road, the main road does not meet the meeting conditions.

[0013] Optionally, when the main road meets the meeting conditions, the vehicle automatically pulls over to the right within the lane to meet. After the meeting is completed, the vehicle continues to drive according to the driving strategy planned by the planning module; when the main road does not meet the meeting conditions, compare the total drivable area width of the main road and non-main road with the meeting width to judge whether the total drivable area of the main road and non-main road meets the meeting conditions; among them, if the total drivable area width of the main road and non-main road is greater than or equal to the meeting width, the total drivable area of the main road and non-main road meets the meeting conditions; if the total drivable area width of the main road and non-main road is less than the meeting width, the total drivable area of the main road and non-main road does not meet the meeting conditions.

[0014] Optionally, when the total drivable area of the main road and the non-main road meets the passing condition, the passing center line is drawn according to the boundaries of the main road and the non-main road. The vehicle automatically pulls over to the right to pass. After passing, the vehicle continues to drive according to the driving strategy planned by the planning module. When the total drivable area of the main road and the non-main road does not meet the passing condition, the traveled distance within a predetermined mileage is traversed to determine whether there is a section that meets the passing condition. If so, the vehicle reverses to the nearest qualified area to pass. If not, the driver is prompted to take over.

[0015] According to one aspect of the present application, a driving decision-making system is provided, including: an image acquisition module for acquiring road images; a first detection module for detecting whether there are lane lines in the road images; a driving area recognition module for recognizing the driving area in the road images when there are no lane lines in the acquired road images; a planning module for planning a driving strategy according to the driving area recognized by the driving area recognition module; and a second detection module for detecting whether an oncoming vehicle is approaching. When the second detection module does not detect an oncoming vehicle, the vehicle drives according to the driving strategy planned by the planning module. When the second detection module detects an oncoming vehicle, the planning module plans a passing strategy, and the vehicle passes according to the passing strategy.

[0016] Compared with the prior art, the beneficial effects of the present application are as follows:

[0017] The driving decision-making system and method of the present application solve the problems of single-vehicle driving and passing decision-making when current autonomous vehicles drive on narrow roads without lane lines in rural areas or urban-rural fringe areas. In view of the environment of roads without lane lines, the present application takes into account that there is no reference for the assisted driving system in this environment, solves the problem of adaptive drawing of virtual lane lines for the assisted driving system in the environment of roads without lane lines, and the problem that traditional manual drawing of virtual lane lines cannot meet the real-time requirement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. shows a schematic structural diagram of a driving decision-making system provided according to an embodiment of the present application;

[0019] Figure 2 FIG. shows a schematic diagram of the boundary line and virtual center line of the main road drawn according to the main road edge and the main road width Wa in an embodiment of the present application;

[0020] Figure 3 FIG. shows a driving strategy when the main road meets the driving condition and the main road width Wa is less than the preset width Wy in an embodiment of the present application;

[0021] Figure 4 FIG. shows a driving strategy when the main road meets the driving condition and the main road width Wa is greater than or equal to the preset width Wy in an embodiment of the present application;

[0022] Figure 5 Illustrates the driving strategy when the main road in the embodiment of the present application meets the driving conditions, and the total drivable area of the main road and the non-main road meets the driving conditions;

[0023] Figure 6 Illustrates a schematic diagram of the center line for oncoming vehicles in the embodiment of the present application. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein in the description of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0026] A preferred embodiment of the present application provides a driving decision-making system. Figure 1 Illustrates a schematic structural diagram of the driving decision-making system provided according to the embodiment of the present application, as Figure 1 shown, the system 10 includes an image acquisition module 110, a first detection module 120, a driving area recognition module 130, and a planning module 140.

[0027] The image acquisition module 110 is used to acquire road images. The image acquisition module 110 includes, but is not limited to, being disposed on the body of the driving vehicle through a lidar or a camera, etc. The first detection module 120 is used to detect whether there are lane lines in the road image. Among them, when there are lane lines in the acquired road image, the image acquisition module 110 continues to acquire road images; when there are no lane lines in the acquired road image, the driving area recognition module 130 recognizes the driving area in the road image, and the planning module 140 plans the driving strategy according to the driving area recognized by the driving area recognition module 130.

[0028] The driving area recognition module 130 executes the following steps to recognize the driving area in the road image:

[0029] S110: Extract the edge information of the main road in the road image, and draw the boundary line of the main road and the virtual center line of the main road according to the edge information of the main road.

[0030] Under normal circumstances, the road surface materials of the main road and the non-main roads on both sides are different. The road surface material of the main road is usually cement concrete, asphalt concrete, etc., and the road surface material of the non-main road is usually dirt road. In one embodiment, for example, according to the road surface material, the main road and the non-main roads on both sides are distinguished to extract the main road edge information. Figure 2 The schematic diagram of the boundary line and the virtual center line of the main road drawn according to the main road edge and the main road width Wa in the embodiment of the present application is shown, as Figure 2 shown. Calculate the main road width Wa according to the edge of the main road, and draw the boundary line S1 and the virtual center line S2 of the main road according to the main road edge and the main road width Wa.

[0031] S120: Detect the road surface height difference between the main road and the non-main road, and determine the driving area according to the road surface height difference between the main road and the non-main road.

[0032] Among them, when the road surface height difference between the main road and the non-main road is less than or equal to the first preset value, the non-main road surface is marked as a drivable area. When the road surface height difference between the main road and the non-main road is greater than the first preset value, the non-main road surface is marked as a non-drivable area.

[0033] In this embodiment, a point on the main road is selected as the detection point of the main road, and the non-main road area within a predetermined length range close to the main road edge is selected as the detection area of the non-main road. For example, the non-main road area within a predetermined length range close to the first side edge of the main road is selected as the detection area of the first side non-main road, and the non-main road area within a predetermined length range close to the second side edge of the main road is selected as the detection area of the second side non-main road. Calculate the height difference Δz1 between the detection point of the main road and the detection area of the first side non-main road. When the height difference Δz1 is less than or equal to the first preset value, the road surface of the first side non-main road is marked as a drivable area. When the height difference Δz1 is greater than the first preset value, the road surface of the first side non-main road is marked as a non-drivable area. Calculate the height difference Δz2 between the detection point of the main road and the detection area of the second side non-main road. When the height difference Δz2 is less than or equal to the first preset value, the road surface of the second side non-main road is marked as a drivable area. When the height difference Δz2 is greater than the first preset value, the road surface of the second side non-main road is marked as a non-drivable area.

[0034] For the non-main road marked as a drivable area, draw its boundary line S3, and calculate the distance between the boundary line S3 of the non-main road and the boundary line S1 of the main road on this side; as Figure 2 shown, the distance from the boundary line S3 of the first side of the non-main road to the boundary line S1 of the first side of the main road is Wb1, and the distance from the boundary line S3 of the second side of the non-main road to the boundary line S1 of the second side of the main road is Wb2.

[0035] In one embodiment, the first preset value is, for example, 10 cm. In other embodiments, the first preset value can also be specifically set according to the performance of the vehicle.

[0036] Further, the planning module 140 executes the following steps to plan a driving strategy:

[0037] S210: Obtain the driving width of the vehicle itself.

[0038] During the actual driving process, in order to prevent the vehicle from rubbing against objects on both sides of the road, the driving width Ws is usually the sum of the vehicle body width Wc1 and the driving margin w01, that is, Ws = Wc1 + W01. In one embodiment, the driving margin w01 is, for example, 0.1 m.

[0039] S220: Determine whether the main road meets the driving conditions.

[0040] Specifically, compare the driving width Ws with the main road width Wa to determine whether the main road meets the driving conditions. Among them, when the driving width Ws is less than or equal to the main road width Wa (i.e., Ws ≤ Wa), the main road meets the driving conditions. When the driving width Ws is greater than the main road width Wa (i.e., Ws > Wa), the main road does not meet the driving conditions.

[0041] When the main road meets the driving conditions, determine the driving area of the vehicle within the main road. Specifically, compare the main road width Wa with the preset width Wy, and determine the driving strategy within the main road according to the comparison result. Figure 3 Illustrates the driving strategy when the main road meets the driving conditions and the main road width Wa is less than the preset width Wy (i.e., Wa < Wy) in the embodiment of the present application. As Figure 3 shown, when the main road width Wa is less than the preset width Wy (i.e., Wa < Wy), the vehicle drives centered on the virtual center line S2 of the main road. Figure 4 Illustrates the driving strategy when the main road meets the driving conditions and the main road width Wa is greater than or equal to the preset width Wy in the embodiment of the present application. As Figure 4 shown, when the main road width Wa is greater than or equal to the preset width Wy (i.e., Wa ≥ Wy), determine a virtual lane within the main road, and the vehicle drives within the virtual lane. The virtual lane of the vehicle is an area at a certain distance from the right boundary line of the main road and with a certain width. In one embodiment, the virtual lane of the vehicle is an area at a distance of 0.5 m from the right boundary line of the main road and with a width of 2.5 m.

[0042] When the main road does not meet the driving conditions (i.e., Ws > Wa), it is determined whether the total drivable area of the main road and the non-main road meets the driving conditions. Specifically, the width Wa of the main road is added to the width of the drivable area of the non-main road to obtain the total drivable area width Wz of the main road and the non-main road. In one embodiment, the total drivable area width Wz of the main road and the non-main road = Wa + Wb1 + Wb2. The total drivable area width Wz of the main road and the non-main road is compared with the driving width Ws, and it is determined whether the total drivable area of the main road and the non-main road meets the driving conditions according to the comparison result. If the total drivable area width of the main road and the non-main road is greater than or equal to the driving width Ws, i.e., Wz ≥ Ws, the total drivable area of the main road and the non-main road meets the driving conditions. Figure 5 Fig. Figure 5 shows the driving strategy when the main road meets the driving conditions and the total drivable area of the main road and the non-main road meets the driving conditions in the embodiment of the present application. As Figure 5 shown, the vehicle travels centered according to the rule that the projected area in the main road is the largest; if the total drivable area width of the main road and the non-main road is less than the driving width Ws, i.e., Wz < Ws, the total drivable area of the main road and the non-main road does not meet the driving conditions, and the driver is prompted to take over.

[0043] The system further includes a second detection module 150. The second detection module 150 is used to detect whether there is an oncoming vehicle. When the second detection module 150 does not detect an oncoming vehicle, the vehicle travels according to the driving strategy planned by the planning module 140. When the second detection module 150 detects an oncoming vehicle, the planning module 140 plans a meeting strategy, and the vehicle meets according to the meeting strategy.

[0044] The planning module 140 executes the following steps to plan a meeting strategy:

[0045] S310: Obtain the meeting width of itself and the oncoming vehicle. The meeting width Wh is the sum of the vehicle body width Wc1 of the vehicle itself, the vehicle body width Wc2 of the oncoming vehicle, and the meeting allowance W02, i.e., Wh = Wc1 + Wc2 + W02. In one embodiment, the meeting allowance W02 is, for example, 0.1 m.

[0046] S320: Determine whether the main road meets the meeting conditions. Specifically, the meeting width Wh is compared with the main road width Wa to determine whether the main road meets the driving conditions. Among them, when the meeting width Wh is less than or equal to the main road width Wa (i.e., Wh ≤ Wa), the main road meets the meeting conditions. When the meeting width Wh is greater than the main road width Wa (i.e., Wh > Wa), the main road does not meet the meeting conditions.

[0047] When the main road meets the meeting conditions, the vehicle automatically pulls over to the right in the lane to meet. After the meeting is completed, the vehicle continues to travel according to the driving strategy planned by the planning module 140.

[0048] When the main road does not meet the passing conditions, it is determined whether the total drivable area of the main road and the non-main road meets the passing conditions. Specifically, the width Wa of the main road is added to the width of the drivable area of the non-main road to obtain the total drivable area width Wz of the main road and the non-main road. In one embodiment, the total drivable area width Wz of the main road and the non-main road = Wa + Wb1 + Wb2. If the total drivable area width Wz of the main road and the non-main road is greater than or equal to the passing width Wh, that is, Wz ≥ Wh, then the total drivable area of the main road and the non-main road meets the passing conditions, and the passing center line S4 is drawn according to the boundaries of the main road and the non-main road (as Figure 6 shown), the vehicle automatically pulls over to the right for passing. After passing is completed, the vehicle continues to travel according to the driving strategy planned by the planning module 140; if the total drivable area width Wz of the road and the non-main road is greater than the passing width Wh, that is, Wz < Wh, then the total drivable area of the main road and the non-main road does not meet the passing conditions, and the traveled distance within a predetermined mileage is traversed to determine whether there is a section that meets the passing conditions.

[0049] In one embodiment, for example, the main road width Wa or the total drivable area width Wz of the main road and the non-main road within the traveled distance of 50 m is traversed, and it is determined whether there is a section within the 50 m traveled distance that meets the passing conditions (that is, Wa ≥ Wh, or Wz ≥ Wh). If there is, the vehicle reverses to the nearest qualified area for passing; if not, the driver is prompted to take over.

[0050] The present application also provides a driving decision-making method, and the method includes:

[0051] Obtain a road image;

[0052] Detect whether there are lane lines in the road image;

[0053] When there are no lane lines in the obtained road image, identify the driving area in the road image; and

[0054] Plan a driving strategy according to the driving area identified by the driving area identification module.

[0055] The method for identifying the driving area in the road image includes:

[0056] S110: Extract the edge information of the main road in the road image, and draw the boundary line and the virtual center line of the main road according to the edge information of the main road;

[0057] S120: Detect the road surface height difference between the main road and the non-main road, and determine the driving area according to the road surface height difference between the main road and the non-main road;

[0058] When the height difference between the main road surface and the non-main road surface is less than or equal to the first preset value, the non-main road surface is marked as a drivable area. When the height difference between the main road surface and the non-main road surface is greater than the first preset value, the non-main road surface is marked as a non-drivable area.

[0059] The method for planning a driving strategy includes:

[0060] S210: Obtain the driving width of the vehicle itself;

[0061] S220: Compare the driving width with the main road width to determine whether the main road meets the driving conditions;

[0062] Among them, when the driving width is less than or equal to the main road width, the main road meets the driving conditions. When the driving width is greater than the main road width, the main road does not meet the driving conditions.

[0063] When the main road meets the driving conditions, compare the main road width with the preset width, and determine the driving strategy within the main road according to the comparison result. When the main road width is less than the preset width, the vehicle drives centered on the virtual center line of the main road. When the main road width is greater than or equal to the preset width, determine a virtual lane within the main road, and the vehicle drives within the virtual lane. The virtual lane of the vehicle is an area at a certain distance from the right boundary line of the main road and with a certain width. When the main road does not meet the driving conditions, compare the total drivable area width of the main road and the non-main road with the driving width, and determine whether the total drivable area of the main road and the non-main road meets the driving conditions according to the comparison result. If the total drivable area width of the main road and the non-main road is greater than or equal to the driving width, the total drivable area of the main road and the non-main road meets the driving conditions, and the vehicle drives centered according to the rule of the largest projected area within the main road. If the total drivable area width of the main road and the non-main road is less than the driving width, the total drivable area of the main road and the non-main road does not meet the driving conditions.

[0064] This application also includes the step of detecting whether there is an oncoming vehicle. When no oncoming vehicle is detected, the vehicle drives according to the driving strategy. When an oncoming vehicle is detected, plan a meeting strategy, and the vehicle meets according to the meeting strategy.

[0065] Among them, the method for planning a meeting strategy includes:

[0066] S310: Obtain the meeting width of itself and the oncoming vehicle;

[0067] S320: Compare the meeting width with the main road width to determine whether the main road meets the meeting conditions,

[0068] Among them, when the meeting width is less than or equal to the main road width, the main road meets the meeting conditions; when the meeting width is greater than the main road width, the main road does not meet the meeting conditions.

[0069] When the main road meets the conditions for meeting other vehicles, the vehicle automatically moves to the right in the lane to meet other vehicles. After the meeting is completed, the vehicle continues to drive according to the driving strategy planned by the planning module.

[0070] When the main road does not meet the meeting conditions, the total drivable area width of the main road and non-main roads is compared with the meeting width to determine whether the total drivable area of ​​the main road and non-main roads meets the meeting conditions;

[0071] Among them, if the total drivable area width of the main road and non-main roads is greater than or equal to the passing width, the total drivable area of ​​the main road and non-main roads meets the passing conditions; if the total drivable area width of the road and non-main roads is greater than the passing width, the total drivable area of ​​the main road and non-main roads does not meet the passing conditions. If the total drivable area of ​​the main road and non-main roads meets the passing conditions, the meeting center line is drawn according to the boundary between the main road and the non-main road, and the vehicle automatically moves to the right to meet. After the meeting is completed, the vehicle continues to drive according to the driving strategy planned by the planning module; if the total drivable area of ​​the main road and non-main roads does not meet the meeting conditions, the traveled distance of the predetermined mileage is traversed to determine whether there is a road section that meets the meeting conditions. If so, reverse to the nearest eligible area to meet; if not, prompt the driver to take over.

[0072] The above description is a detailed description of the preferred feasible embodiment of the present application, but the embodiment is not intended to limit the scope of the patent application of the present application. All equivalent changes or modified changes completed under the technical spirit suggested by the present application should fall within the scope of the patent covered by the present application.

Claims

1. A driving decision method, comprising: Acquire road images; Detect whether there are lane lines in the road image; When no lane line exists in the acquired road image, identifying a driving area in the road image; as well as Plan driving strategies based on driving areas.

2. The driving decision method according to claim 1, wherein: The method of identifying the driving area in the road image includes: S110: extracting edge information of the main road in the road image, and drawing a boundary line of the main road and a virtual center line of the main road according to the edge information of the main road; S120: Detecting a road surface height difference between a main road and a non-main road, and determining a driving area according to the road surface height difference between the main road and the non-main road; Among them, when the height difference between the main road and the non-main road is less than or equal to the first preset value, the non-main road surface is marked as a drivable area; when the height difference between the main road and the non-main road is greater than the first preset value, the non-main road surface is marked as a non-drivable area.

3. The driving decision method according to claim 2, wherein: Methods for planning driving strategies include: S210: Obtain the travel width of the vehicle; S220: Compare the driving width with the main road width to determine whether the main road meets the driving conditions; Among them, when the driving width is less than or equal to the main road width, the main road meets the driving conditions, and when the driving width is greater than the main road width, the main road does not meet the driving conditions.

4. The driving decision system according to claim 3, wherein: When the main road meets the driving conditions, the width of the main road is compared with the preset width, and a driving strategy is determined within the main road according to the comparison result; Among them, when the width of the main road is less than the preset width, the vehicle drives in the center of the virtual center line of the main road. When the width of the main road is greater than or equal to the preset width, a virtual lane is determined in the main road and the vehicle drives in the virtual lane; the vehicle's virtual lane is an area that is a certain distance from the right boundary line of the main road and has a certain width.

5. The driving decision method according to claim 3, wherein: When the main road does not meet the driving conditions, the total drivable area width of the main road and non-main roads is compared with the driving width, and whether the total drivable area of ​​the main road and non-main roads meets the driving conditions is determined based on the comparison result; If the total drivable area width of the main road and non-main roads is greater than or equal to the driving width, the total drivable area of ​​the main road and non-main roads meets the driving conditions, and the vehicle drives in the center of the main road with the largest projection area; If the total drivable area width of the main road and non-main roads is less than the driving width, the total drivable area of ​​the main road and non-main roads does not meet the driving conditions.

6. The driving decision method according to claim 1, wherein: The method also includes the step of detecting whether there is an oncoming vehicle. When no oncoming vehicle is detected, the vehicle drives according to the driving strategy. When an oncoming vehicle is detected, a meeting strategy is planned, and the vehicle meets the vehicle according to the meeting strategy.

7. The driving decision method according to claim 6, wherein: Methods for planning a meeting strategy include: S310: Obtaining the meeting width of the vehicle and the oncoming vehicle; S320: Compare the width of the oncoming vehicle with the width of the main road to determine whether the main road meets the driving conditions. Among them, when the oncoming width is less than or equal to the width of the main road, the main road meets the oncoming conditions; when the oncoming width is greater than the width of the main road, the main road does not meet the oncoming conditions.

8. The driving decision method according to claim 7, wherein: When the main road meets the meeting conditions, the vehicle automatically moves to the right in the lane to meet the vehicle. After the meeting is completed, the vehicle continues to drive according to the driving strategy planned by the planning module; when the main road does not meet the meeting conditions, the total drivable area width of the main road and non-main roads is compared with the meeting width to determine whether the total drivable area of ​​the main road and non-main roads meets the meeting conditions; If the total drivable area width of the main road and non-main road is greater than or equal to the meeting width, the total drivable area of ​​the main road and non-main road meets the meeting condition; If the total drivable area width of the main road and non-main road is less than the meeting width, the total drivable area of ​​the main road and non-main road does not meet the meeting conditions.

9. The driving decision system according to claim 8, wherein: The total drivable area of ​​the main road and non-main road meets the meeting conditions. The meeting center line is drawn according to the boundary between the main road and the non-main road. The vehicle automatically moves to the right to meet the vehicle. After the meeting is completed, the vehicle continues to drive according to the driving strategy planned by the planning module. If the total drivable area of ​​the main road and non-main road does not meet the meeting conditions, the vehicle will traverse the traveled distance of the predetermined mileage to determine whether there is a road section that meets the meeting conditions. If so, the vehicle will reverse to the nearest area that meets the conditions and meet the vehicle. If not present, the driver is prompted to take over.

10. A driving decision system, comprising: An image acquisition module, used for acquiring road images; A first detection module is used to detect whether there is a lane line in the road image; A driving area recognition module, when there is no lane line in the acquired road image, the driving area recognition module recognizes the driving area in the road image; A planning module, which plans a driving strategy according to the driving area identified by the driving area identification module; as well as The second detection module is used to detect whether there is an oncoming vehicle. When the second detection module does not detect an oncoming vehicle, the vehicle drives according to the driving strategy planned by the planning module. When the second detection module detects an oncoming vehicle, the planning module plans a meeting strategy, and the vehicle meets the vehicle according to the meeting strategy.

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