Vehicle meeting control method, electronic equipment, storage medium, vehicle and vehicle networking system

Abstract

The invention discloses a vehicle meeting control method, electronic equipment, a storage medium, a vehicle and a vehicle networking system, and the vehicle meeting control method comprises the steps: receiving a vehicle meeting control instruction which is generated by a cloud platform according to road side sensing information and vehicle sensing information; according to the meeting control instruction, at least one of the following items is executed: the position of an avoiding wheel of the vehicle in the vehicle width direction is adjusted, the relative position of a vehicle body of the vehicle and the road edge is controlled, the avoiding wheel is the wheel, close to the road edge, of the vehicle, and the avoiding wheel can move in the width direction of the vehicle; adjusting the height of the vehicle body; and alarming to prompt that vehicles cannot pass. According to the method, on a narrow road which does not meet normal meeting conditions, the meeting control instruction is generated through the cloud platform, the vehicle is controlled to realize automatic meeting, or an alarm is given to prompt that the vehicle cannot pass, the meeting intelligence of the automatic driving vehicle is ensured, the vehicle travel efficiency and safety are improved, and the traffic jam problem caused by meeting is avoided.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a passing vehicle control method, as well as an electronic device, a computer-readable storage medium, a vehicle, and a vehicle networking system. Background Art

[0002] In related technologies, many current vehicles are equipped with an automatic driving system. However, in many rural roads or single-lane situations, the road surface width is slightly narrow, and the sides of the road are shoulders, sand, ditches, etc., which do not meet the normal passing vehicle conditions. Existing automatic driving vehicles cannot control passing vehicles with oncoming vehicles on narrow roads that do not meet the normal passing vehicle conditions, cannot ensure passing vehicle, and the vehicle travel efficiency and safety are low, and traffic jams will be caused. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, an object of the present invention is to provide a passing vehicle control method, which can generate a passing vehicle control instruction through a cloud platform on a narrow road that does not meet the normal passing vehicle conditions, control the host vehicle to achieve automatic passing vehicle, or give an alarm to indicate that passing vehicle cannot be achieved, ensure the intelligence of passing vehicle of the automatic driving vehicle, improve the vehicle travel efficiency and safety, and avoid traffic congestion problems caused by passing vehicle.

[0004] A second object of the present invention is to provide a passing vehicle control method.

[0005] A third object of the present invention is to provide an electronic device.

[0006] A fourth object of the present invention is to provide a computer-readable storage medium.

[0007] A fifth object of the present invention is to provide a vehicle.

[0008] A sixth object of the present invention is to provide a vehicle networking system.

[0009] To solve the above problems, an embodiment of the first aspect of the present invention provides a passing vehicle control method for a host vehicle, where the passing vehicle control method includes: receiving a passing vehicle control instruction, where the passing vehicle control instruction is generated by a cloud platform according to roadside sensing information and host vehicle sensing information; according to the passing vehicle control instruction, performing at least one of the following: adjusting the position of the avoidance wheel of the host vehicle in the vehicle width direction and controlling the relative position of the body of the host vehicle and the road edge, where the avoidance wheel is the wheel of the host vehicle close to the road edge, and the avoidance wheel is movable along the width direction of the host vehicle; adjusting the body height of the host vehicle; giving an alarm to indicate that passing vehicle cannot be achieved.

[0010] According to the oncoming vehicle control method of an embodiment of the present invention, on a narrow road where normal oncoming vehicle conditions are not met, the host vehicle receives an oncoming vehicle control instruction generated by a cloud platform based on roadside perception information and host vehicle sensing information, and adjusts the avoidance wheels of the host vehicle or the body height of the host vehicle through the oncoming vehicle control instruction to achieve automatic oncoming vehicle, or, when it is impossible to pass by oncoming vehicle, gives an alarm prompt that it is impossible to pass by oncoming vehicle, ensuring the intelligence of oncoming vehicle of autonomous vehicles, improving vehicle travel efficiency and safety, and avoiding traffic congestion problems caused by oncoming vehicle.

[0011] In some embodiments, the roadside perception information includes the body width of the host vehicle, the width of the oncoming vehicle, and the width of the driving road; the oncoming vehicle control instruction is determined according to the oncoming vehicle conditions satisfied by the body width of the host vehicle, the width of the oncoming vehicle, and the road width.

[0012] In some embodiments, the oncoming vehicle control instruction includes a first oncoming vehicle control instruction, and the first oncoming vehicle control instruction corresponds to a first oncoming vehicle condition, where the first oncoming vehicle condition is 1 / 3×B < (A + B) - d, where B is the body width of the host vehicle, A is the width of the oncoming vehicle, and d is the width of the driving road; when the oncoming vehicle control instruction is the first oncoming vehicle control instruction, an alarm prompt is given that it is impossible to pass by oncoming vehicle.

[0013] In some embodiments, the oncoming vehicle control method further includes: when (A + B) - d < 0 is satisfied by the body width of the host vehicle, the width of the oncoming vehicle, and the road width, passing by oncoming vehicle according to the host vehicle sensing information.

[0014] In some embodiments, the roadside perception information further includes the relative height between the road edge and the driving road surface and the wheel diameter of the host vehicle; the oncoming vehicle control instruction is determined according to the oncoming vehicle conditions satisfied by the body width of the host vehicle, the width of the oncoming vehicle, and the road width, and the oncoming vehicle conditions satisfied by the relative height and the wheel radius.

[0015] In some embodiments, the oncoming vehicle control instruction further includes a second oncoming vehicle control instruction, and the second oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3×B and H ≤ 0, where B is the body width of the host vehicle, A is the width of the oncoming vehicle, d is the width of the driving road, and H is the relative height between the road edge and the driving road surface; when the oncoming vehicle control instruction is the second oncoming vehicle control instruction, the avoidance wheels move from the outermost edge of the body to the position of 1 / 3×B in the direction of the body width, and control the body to drive out 1 / 3×B of the distance towards the outside of the lane during oncoming vehicle.

[0016] In some embodiments, the oncoming vehicle control instruction further includes a third oncoming vehicle control instruction, and the third oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3 × B and 0 < H ≤ 1 / 3 × D, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the driving road surface, and D is the wheel diameter; when the oncoming vehicle control instruction is the third oncoming vehicle control instruction, control the body height of the own vehicle to increase by a height of 1 / 3 × D, and the avoidance wheel moves from the outermost edge of the body along the body width direction to a position of 1 / 3 × B towards the center of the body, and control the body to drive outwards from the lane by a distance of 1 / 3 × B during oncoming vehicle meeting.

[0017] In some embodiments, the oncoming vehicle control instruction further includes a fourth oncoming vehicle control instruction, and the fourth oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3 × B and 1 / 3 × D < H, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the driving road surface, and D is the wheel diameter; when the oncoming vehicle control instruction is the fourth oncoming vehicle control instruction, give an alarm prompt that oncoming vehicle meeting cannot pass through.

[0018] An oncoming vehicle control method according to an embodiment of the second aspect of the present invention is used for a cloud platform, and the oncoming vehicle control method includes: obtaining roadside perception information and own vehicle sensing information; when it is determined that there is an oncoming vehicle meeting intention according to the roadside perception information and the own vehicle sensing information, generating an oncoming vehicle control instruction according to the roadside perception information and the own vehicle sensing information to determine the oncoming vehicle meeting situation; sending the oncoming vehicle control instruction; where the roadside perception information includes the width of the own vehicle body, the width of the oncoming vehicle, and the width of the driving road; the roadside perception information includes the width of the own vehicle body, the width of the oncoming vehicle, the width of the driving road, the relative height between the road edge and the driving road surface, and the wheel diameter of the own vehicle, and the oncoming vehicle control instruction is determined according to the oncoming vehicle meeting conditions satisfied by the width of the own vehicle body, the width of the oncoming vehicle, and the road width, and / or, the oncoming vehicle control instruction is determined according to the oncoming vehicle meeting conditions satisfied by the width of the own vehicle body, the width of the oncoming vehicle, and the road width, and the oncoming vehicle meeting conditions satisfied by the relative height and the wheel radius.

[0019] According to the oncoming vehicle control method of the embodiment of the present invention, during the driving process of the vehicle, the cloud platform obtains the roadside perception information and the own vehicle sensing information in real time. When it is determined that there is an oncoming vehicle meeting intention according to the roadside perception information and the own vehicle sensing information, the cloud platform generates an oncoming vehicle control instruction according to the roadside perception information and the own vehicle sensing information, and adjusts the avoidance wheel or the body height of the own vehicle through the oncoming vehicle control instruction to realize automatic oncoming vehicle meeting, ensure the intelligence of oncoming vehicle meeting of autonomous driving vehicles, improve the vehicle travel efficiency and safety, and avoid traffic congestion problems caused by oncoming vehicle meeting.

[0020] In some embodiments, the oncoming vehicle control instruction includes at least one of a first oncoming vehicle control instruction, a second oncoming vehicle control instruction, a third oncoming vehicle control instruction, and a fourth oncoming vehicle control instruction. Among them, the first oncoming vehicle control instruction corresponds to a first oncoming vehicle condition, and the first oncoming vehicle condition is 1 / 3×B < (A + B) - d, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, and d is the width of the driving road; the second oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3×B and H ≤ 0, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, d is the width of the driving road, and H is the relative height between the road edge and the driving road surface; the third oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3×B and 0 < H ≤ 1 / 3×D, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the driving road surface, and D is the wheel diameter; the fourth oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3×B and 1 / 3×D < H, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the driving road surface, and D is the wheel diameter.

[0021] An embodiment of the third aspect of the present invention provides an electronic device, including: at least one processor; a memory communicatively connected to the at least one processor; a computer program stored in the memory that can be executed by the at least one processor, and when the at least one processor executes the computer program, the oncoming vehicle control method described in the above embodiment is implemented.

[0022] According to the electronic device of the embodiment of the present invention, the corresponding oncoming vehicle control program can be stored in the memory. When implementing the oncoming vehicle control method, the roadside perception information and the own vehicle sensing information are obtained in real time. When it is determined that there is an oncoming vehicle intention according to the roadside perception information and the own vehicle sensing information, the cloud platform generates an oncoming vehicle control instruction according to the roadside perception information and the own vehicle sensing information, and adjusts the avoidance wheels of the own vehicle or the body height of the own vehicle through the oncoming vehicle control instruction to achieve automatic oncoming vehicle, ensuring the intelligence of the oncoming vehicle of the autonomous driving vehicle, improving the vehicle travel efficiency and safety, and avoiding traffic congestion problems caused by oncoming vehicles.

[0023] An embodiment of the fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the oncoming vehicle control method described in the above embodiment is implemented.

[0024] A fifth aspect of the present invention provides a vehicle, characterized in that it includes: a vehicle body; a longitudinal moving track of the vehicle body, which is arranged on the vehicle chassis and extends longitudinally along the vehicle body; a longitudinal driving motor of the vehicle body, which is arranged at the bottom of the cockpit and is used to drive the vehicle body to move along the longitudinal moving track of the vehicle body to adjust the height of the vehicle body; an avoidance wheel, which is located on one side of the vehicle; a wheel moving track, which is located on the vehicle chassis and extends along the width direction of the vehicle body; a wheel lateral driving motor, which is connected to the avoidance wheel and is used to drive the avoidance wheel to move along the wheel moving track; a vehicle sensing device, which is used to collect self-vehicle sensing information; an alarm prompt device, which is used to issue an alarm prompt when the oncoming vehicle cannot pass; a vehicle communication module, which is used to communicate with a roadside perception system; a vehicle control unit, which is connected to the longitudinal driving motor of the vehicle body, the lateral driving motor of the wheel, the vehicle sensing device, the alarm prompt device and the vehicle communication module, and is used to execute the oncoming vehicle control method described in the above embodiment.

[0025] According to the embodiments of the present invention, when on a narrow road that does not meet normal meeting conditions, the vehicle can obtain the meeting control command sent by the cloud platform through the vehicle communication module, and adjust the avoidance wheel of the vehicle or the body height of the vehicle according to the meeting control command to achieve automatic meeting, or, when it is impossible to meet the vehicle, an alarm is issued to prompt that it is impossible to meet the vehicle, thereby ensuring the intelligence of the autonomous driving vehicle meeting the vehicle, improving the travel efficiency and safety of the vehicle, and avoiding traffic congestion caused by meeting the vehicle.

[0026] A sixth aspect of the present invention provides a vehicle networking system, characterized in that it includes: the vehicle described in the above embodiments; a roadside perception system, the roadside perception system includes a roadside camera, a roadside lidar, an edge computing unit and a roadside communication module, the edge computing unit is used to obtain roadside perception information by performing information fusion based on information collected by the roadside camera and the roadside lidar, and the roadside communication module is used to send the roadside perception information and the vehicle's own vehicle sensing information; a cloud platform, the cloud platform communicates with the roadside communication module and the vehicle, and is used to execute the meeting control method described in the above embodiments.

[0027] According to the vehicle networking system of the embodiment of the present invention, when the vehicle is driving, the cloud platform obtains roadside perception information and self-vehicle sensing information in real time. When it is determined that there is an intention to meet the vehicle based on the roadside perception information and the self-vehicle sensing information, the cloud platform generates a meeting control instruction based on the roadside perception information and the self-vehicle sensing information. Through the meeting control instruction, the avoidance wheel of the self-vehicle or the body height of the self-vehicle is adjusted to realize automatic meeting, thereby ensuring the intelligence of the self-driving vehicle meeting the vehicle, improving the travel efficiency and safety of the vehicle, and avoiding traffic congestion caused by meeting the vehicle.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Brief Description of the Drawings

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, in which: Figure 1 is a flowchart of a passing control method according to an embodiment of the present invention; Figure 2 in (1) is a top view of a vehicle when passing cannot be achieved according to an embodiment of the present invention, Figure 2 in (2) is a side view of the vehicle when passing cannot be achieved; Figure 3 is a schematic diagram of passing control according to an embodiment of the present invention; Figure 4 is a schematic diagram of no need for passing according to an embodiment of the present invention; Figure 5 is a flowchart of a passing control method according to another embodiment of the present invention; Figure 6 is a block diagram of the structure of an electronic device according to an embodiment of the present invention; Figure 7 in (1) is a top view of a vehicle according to an embodiment of the present invention, Figure 7 in (2) is a side view of the vehicle; Figure 8 is a schematic diagram of a vehicle networking system according to an embodiment of the present invention; Figure 9 is a schematic diagram of the working process of a vehicle networking system according to an embodiment of the present invention.

[0030] Reference Numerals: Vehicle networking system 300; Vehicle 200; Electronic device 100; Processor 101; Memory 102; Vehicle body 210; Vehicle body longitudinal movement track 201; Vehicle body longitudinal drive motor 202; Avoidance wheel 203; Wheel movement track 204; Wheel lateral drive motor 205; Vehicle sensing device 206; Alarm prompt device 207; Vehicle communication module 208; Vehicle control unit 209; Roadside perception system 310; Roadside camera 311; Roadside lidar 312; Edge computing unit 313; Roadside communication module 314; Cloud platform 320. Detailed Description of the Embodiments

[0031] Embodiments of the present invention will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention will be described in detail below.

[0032] In the prior art, many vehicles are equipped with autonomous driving systems. However, on many rural roads or single-lane roads, the road surface width is slightly narrow, and there are shoulders, sand, ditches, etc. on both sides of the road, which do not meet the normal passing conditions for oncoming vehicles. Currently, autonomous driving vehicles cannot control passing with oncoming vehicles on narrow roads that do not meet the normal passing conditions, and cannot ensure passing, resulting in the inability to pass and traffic jams.

[0033] To solve the above problems, the first aspect of the embodiments of the present invention provides a passing control method for a self-vehicle. This method can generate a passing control instruction through a cloud platform on a narrow road that does not meet the normal passing conditions, control the self-vehicle to achieve automatic passing, or give an alarm to indicate that passing is not possible, ensuring the intelligence of passing for autonomous driving vehicles, improving the vehicle travel efficiency and safety, and avoiding traffic congestion problems caused by passing.

[0034] The following refers to Figure 1 Describe a passing control method according to the first aspect of the embodiments of the present invention, as Figure 1 shown, this method at least includes steps S1 to S2.

[0035] Step S1, receive a passing control instruction.

[0036] Among them, the passing control instruction is generated by the cloud platform according to roadside perception information and self-vehicle sensing information.

[0037] Specifically, the roadside perception information can be obtained by deploying lidar, millimeter-wave radar, and high-definition cameras along the road. Due to the setting of high-definition cameras on the roadside, real-time road information can be obtained for most roads, and roadside perception information is generated according to the obtained road conditions. The roadside perception information can include the speed, position, type of vehicles on the current road, and road conditions, etc. At the same time, the roadside perception information is updated in real time. The self-vehicle sensing information is data collected by the vehicle itself through various sensors about its operating state and the surrounding environment. The self-vehicle sensing information provides the vehicle with a comprehensive self-perception ability, enabling it to drive safely in a complex traffic environment. In autonomous driving technology, the self-vehicle sensing information will be fused and processed, and corresponding driving decisions will be made through algorithm analysis.

[0038] For a vehicle with autonomous driving function, when passing, the cloud platform receives roadside perception information and self-vehicle sensing information in real time. After receiving the roadside perception information and self-vehicle sensing information, the cloud platform uses corresponding algorithms for analysis and processing to evaluate the current traffic conditions, predict potential risks, and formulate corresponding passing control instructions, and then sends the passing control instructions to the vehicle.

[0039] Step S2: According to the oncoming vehicle control instruction, perform at least one of the following: adjust the position of the avoidance wheels of the host vehicle in the vehicle width direction and control the relative position of the host vehicle body and the road edge, where the avoidance wheels are the wheels of the host vehicle close to the road edge and are movable along the vehicle width direction of the host vehicle; adjust the body height of the host vehicle; give an alarm to indicate that oncoming vehicle passing is not possible.

[0040] Specifically, in order to handle oncoming vehicle passing on a narrow road during the autonomous driving process, the vehicle in the present invention is provided with avoidance wheels, which are the wheels of the host vehicle close to the road edge and are movable along the vehicle width direction of the host vehicle, that is, the wheels of the front axle and the rear axle of the vehicle close to the road edge can move along the vehicle width direction; the body height of the host vehicle in the present invention can also be adjusted to avoid obstacles on the road edge; after the vehicle receives the oncoming vehicle control instruction, it adjusts the distance of the avoidance wheels of the host vehicle in the width direction, and can also adjust the body height of the host vehicle to complete oncoming vehicle passing; when the vehicle still cannot complete oncoming vehicle passing after adjusting the distance of the avoidance wheels of the host vehicle in the width direction and the body height of the host vehicle, an alarm is given to indicate that oncoming vehicle passing is not possible. At this time, the driver takes over the vehicle and controls the vehicle.

[0041] According to the oncoming vehicle control method of the embodiment of the present invention, on a narrow road where normal oncoming vehicle passing conditions are not met, the host vehicle receives the oncoming vehicle control instruction generated by the cloud platform according to the roadside perception information and the host vehicle sensing information, and realizes automatic oncoming vehicle passing by adjusting the avoidance wheels or the body height of the host vehicle through the oncoming vehicle control instruction, or gives an alarm to indicate that oncoming vehicle passing is not possible when oncoming vehicle passing is not possible, ensuring the intelligence of oncoming vehicle passing of the autonomous driving vehicle, improving the vehicle travel efficiency and safety, and avoiding traffic congestion problems caused by oncoming vehicle passing.

[0042] In some embodiments, the roadside perception information includes the body width of the host vehicle, the width of the oncoming vehicle, and the width of the driving road; the oncoming vehicle control instruction is determined according to the oncoming vehicle passing conditions satisfied by the body width of the host vehicle, the width of the oncoming vehicle, and the road width.

[0043] Specifically, the body width of the host vehicle is the width of the current vehicle; the width of the oncoming vehicle is the width of the oncoming vehicle that will pass by the host vehicle; the width of the driving road is the total width of the road in the current section. When performing oncoming vehicle passing, when the body width, the width of the oncoming vehicle, and the road width satisfy the oncoming vehicle passing conditions, an oncoming vehicle control instruction is generated to control the host vehicle to perform oncoming vehicle passing. When the total length of the body width of the host vehicle and the width of the oncoming vehicle is less than the width of the driving road, the oncoming vehicle passing conditions are satisfied.

[0044] In some embodiments, the oncoming vehicle control instruction includes a first oncoming vehicle control instruction, and the first oncoming vehicle control instruction corresponds to a first oncoming vehicle condition, where the first oncoming vehicle condition is 1 / 3×B < (A + B) - d, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, and d is the width of the driving road; when the oncoming vehicle control instruction is the first oncoming vehicle control instruction, an alarm prompts that it is impossible to pass by meeting the oncoming vehicle.

[0045] Specifically, in order to handle oncoming vehicle meeting on a narrow road during the automatic driving process, the vehicle in the present invention is provided with avoidance wheels, and the avoidance wheels are the wheels of the own vehicle close to the road edge. The avoidance wheels are movable along the width direction of the own vehicle. To ensure the stability of the vehicle, the maximum moving distance of the avoidance wheels is 1 / 3×B, that is, the wheel on the right side of the vehicle close to the road edge can move towards the center of the vehicle body, and the maximum moving range is 1 / 3×B. After the avoidance wheels move towards the center of the vehicle body, the vehicle body can extend outside the road edge to complete the oncoming vehicle meeting.

[0046] As Figure 2 Shown in (1) below, when the road is too narrow and 1 / 3×B < (A + B) - d, the vehicle cannot meet the oncoming vehicle even by moving the avoidance wheels. At this time, the oncoming vehicle control instruction is the first oncoming vehicle control instruction, and the first oncoming vehicle control instruction can be understood as an instruction that cannot pass by meeting the oncoming vehicle. When the oncoming vehicle control instruction is the first oncoming vehicle control instruction, an alarm prompts that the own vehicle cannot pass by meeting the oncoming vehicle, reminding the driver to control the vehicle. Figure 2 (2) below is a side view of the vehicle.

[0047] In some embodiments, the oncoming vehicle control method further includes: when the width of the own vehicle body, the width of the oncoming vehicle, and the width of the road satisfy (A + B) - d < 0, passing by meeting the oncoming vehicle according to the own vehicle sensing information.

[0048] Specifically, B is the width of the own vehicle body, A is the width of the oncoming vehicle, and d is the width of the driving road. When (A + B) - d < 0, the driving road is relatively wide. The width of the own vehicle and the environmental information are obtained according to the own vehicle sensing information. It can be determined through calculation that there will be no scraping when the own vehicle meets the oncoming vehicle, and the oncoming vehicle meeting is safe.

[0049] In some embodiments, the roadside sensing information further includes the relative height between the road edge and the driving road surface and the wheel diameter of the own vehicle; the oncoming vehicle control instruction is determined according to the oncoming vehicle condition satisfied by the width of the own vehicle body, the width of the oncoming vehicle, and the width of the road, as well as the oncoming vehicle condition satisfied by the relative height and the wheel radius.

[0050] Specifically, obstacles may appear at the road edge, such as shoulders, sand, etc. When the vehicle is meeting an oncoming vehicle and the body extends outside the road edge, it may collide with the road edge obstacle. Therefore, it is necessary to obtain the relative height between the road edge and the driving road surface. The relative height between the road edge and the driving road surface can be understood as the difference between the road edge and the driving road. Through the relative height, it is determined whether there is an obstacle at the road edge, and at the same time, the wheel diameter of the host vehicle is obtained. The wheel diameter can be compared with the relative height to determine whether the vehicle body can extend outside the road edge.

[0051] In some embodiments, the meeting control instruction further includes a second meeting control instruction, and the second meeting control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3 × B and H ≤ 0, where B is the body width of the host vehicle, A is the width of the oncoming vehicle, d is the width of the driving road, and H is the relative height between the road edge and the driving road surface; when the meeting control instruction is the second meeting control instruction, the avoidance wheel moves from the outermost edge of the body to the center of the body along the body width direction to a position of 1 / 3 × B, and controls the body to drive out 1 / 3 × B of the distance to the outside of the lane during the meeting.

[0052] Specifically, the second meeting control instruction can be understood as an instruction to control the vehicle's avoidance wheel to move towards the center of the body for meeting; when 0 ≤ (A + B) - d ≤ 1 / 3 × B and H ≤ 0, it indicates that the road is narrow, and the avoidance wheel needs to move from the outermost edge of the body to the center of the body along the body width direction. The maximum moving distance of the avoidance wheel is 1 / 3 × B, that is, the wheel on the right side of the vehicle near the road edge can move towards the center of the body, and the maximum moving range is 1 / 3 × B. The avoidance wheel can move within the range of 0 to 1 / 3 × B; as Figure 3 shown, the avoidance wheel is moved according to the body width of the host vehicle and the width of the oncoming vehicle. After the avoidance wheel moves towards the center of the body, the vehicle body can drive out to the outside of the lane to complete the meeting.

[0053] In some embodiments, the meeting control instruction further includes a third meeting control instruction, and the third meeting control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3 × B and 0 < H ≤ 1 / 3 × D, where B is the body width of the host vehicle, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the driving road surface, and D is the wheel diameter; when the meeting control instruction is the third meeting control instruction, control the body height of the host vehicle to rise by a height of 1 / 3 × D, and the avoidance wheel moves from the outermost edge of the body to the center of the body along the body width direction to a position of 1 / 3 × B, and controls the body to drive out 1 / 3 × B of the distance to the outside of the lane during the meeting.

[0054] Specifically, the third passing control instruction can be understood as an instruction to control the vehicle to avoid the wheels moving towards the center of the vehicle body, and at the same time control the vehicle body height of the host vehicle to rise for passing. When 0 ≤ (A + B) - d ≤ 1 / 3 × B and 0 < H ≤ 1 / 3 × D, it indicates that the road is relatively narrow. The avoiding wheels need to move from the outermost edge of the vehicle body towards the center of the vehicle body along the width direction of the vehicle body. At the same time, there are obstacles at the road edge, and the height of the obstacles is less than 1 / 3 × D. The maximum moving distance of the avoiding wheels is 1 / 3 × B, that is, the wheels near the road edge on the right side of the vehicle can move towards the center of the vehicle body, and the maximum moving range is 1 / 3 × B. The avoiding wheels can move within the range of 0 to 1 / 3 × B. The maximum rising height of the vehicle body of the host vehicle is 1 / 3 × D, and the vehicle body of the host vehicle can rise within the range of 0 to 1 / 3 × D. The avoiding wheels are moved according to the width of the host vehicle body and the width of the oncoming vehicle. After the avoiding wheels move towards the center of the vehicle body, the vehicle body can drive towards the outside of the lane, and the height of the vehicle body of the host vehicle is raised according to the relative height between the road edge and the road surface of the driving road to complete passing.

[0055] In some embodiments, the passing control instruction further includes a fourth passing control instruction. The fourth passing control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3 × B and 1 / 3 × D < H, where B is the width of the host vehicle body, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the road surface of the driving road, and D is the wheel diameter. When the passing control instruction is the fourth passing control instruction, an alarm is given to indicate that passing cannot be achieved.

[0056] Specifically, the fourth passing control instruction can be understood as that the avoiding wheels of the vehicle can move towards the center of the vehicle body, but 1 / 3 × D < H. When the vehicle body drives towards the outside of the lane, it will collide with the obstacles. Therefore, the fourth passing control instruction is an instruction that passing cannot be achieved. When 0 ≤ (A + B) - d ≤ 1 / 3 × B and 1 / 3 × D < H, it indicates that the road is relatively narrow. The avoiding wheels need to move from the outermost edge of the vehicle body towards the center of the vehicle body along the width direction of the vehicle body. At the same time, there are obstacles at the road edge, and the height of the obstacles is greater than 1 / 3 × D. After the avoiding wheels move towards the center of the vehicle body, the vehicle body will collide when driving towards the outside of the lane. When the passing control instruction is the fourth passing control instruction, an alarm is given to indicate that the host vehicle cannot pass, reminding the driver to control the vehicle.

[0057] As Figure 4 shown, if (A + B) - d < 0, it indicates that the road is wide enough, and the sum of the width of the host vehicle body and the width of the oncoming vehicle is less than the width of the driving road. At this time, the passing control instruction is not triggered, and the host vehicle can drive normally.

[0058] For example, the passing control method of the present invention is based on vehicle networking technology and adopts measures combining vehicle terminals, road terminals, and cloud terminals. It uses vehicle-road perception to judge the passing situation of the current road surface. Through cloud model calculation, the cloud platform uses edge computing units and vehicle-mounted millimeter-wave radars to judge the passing situation of two vehicles when meeting on the current driving road: when 0 ≤ (opposite vehicle width A + own vehicle body width B) - driving road width d ≤ 1 / 3 × B, and the relative height between the road edge and the driving road surface ≤ 0, the cloud platform will issue a second passing control instruction to control the right avoidance wheel of the autonomous vehicle to move from the outermost edge to the center of the vehicle to the position of 1 / 3 × B. At the same time, the autonomous vehicle moves out 1 / 3 × B positions to the outside of the lane during passing to ensure that passing can be achieved during passing.

[0059] When 0 ≤ (opposite vehicle width A + own vehicle body width B) - driving road width d ≤ 1 / 3 × B, and 0 < the relative height H between the road edge and the driving road surface ≤ 1 / 3 × wheel diameter D, the cloud platform will issue a third passing control instruction to control the autonomous vehicle to raise the vehicle body by 1 / 3 × wheel diameter D. At the same time, the right avoidance wheel moves from the outermost edge to the center of the vehicle to the position of 1 / 3 × B. At the same time, the autonomous vehicle moves out 1 / 3 × B positions to the outside of the lane during passing to ensure that passing can be achieved during passing.

[0060] When (opposite vehicle width A + own vehicle body width B) - driving road width d < 0, it is considered that the lane width can ensure normal passing during passing, and the cloud platform does not issue any instructions.

[0061] When 1 / 3 × B < (opposite vehicle width A + own vehicle body width B) - driving road width d, it is considered that the road is too narrow and the autonomous driving cannot ensure passing by avoidance. The cloud platform will issue a first passing control instruction, and the vehicle will issue an alarm to prompt the oncoming vehicle to reverse and change lanes to pass, and at the same time prompt the user to access and control the vehicle.

[0062] When 0 ≤ (opposite vehicle width A + own vehicle body width B) - driving road width d ≤ 1 / 3 × B, and 1 / 3 × wheel diameter D < the relative height H between the road edge and the driving road surface, it is considered that the road periphery is too high and the autonomous driving cannot ensure passing by avoidance. The cloud platform will issue a fourth passing control instruction, and the vehicle will issue an alarm to prompt the oncoming vehicle to reverse and change lanes to pass; According to the passing control method of the present invention, for rural roads with slightly narrow road surfaces where passing is impossible under traditional conditions, passing can be achieved, ensuring the intelligence of autonomous vehicles, improving the efficiency of road driving and travel, and solving the problem of traffic congestion caused by passing.

[0063] Next, refer to Figure 5 Describe a passing control method according to an embodiment of the second aspect of the present invention for a cloud platform, as Figure 5As shown, the method at least includes steps S3 to S5.

[0064] Step S3: Obtain roadside perception information and vehicle's own sensing information.

[0065] Among them, the roadside perception information includes the width of the vehicle's own body, the width of the oncoming vehicle, and the width of the driving road; the roadside perception information may also include the width of the vehicle's own body, the width of the oncoming vehicle, the width of the driving road, the relative height between the road edge and the driving road surface, and the wheel diameter of the vehicle's own.

[0066] Specifically, for a vehicle with autonomous driving function, the cloud platform receives the roadside perception information and the vehicle's own sensing information in real time. After receiving the roadside perception information and the vehicle's own sensing information, the cloud platform uses corresponding algorithms for analysis and processing to evaluate the current traffic conditions, predict potential risks, and formulate corresponding passing control instructions, and then sends the passing control instructions to the vehicle.

[0067] Step S4: When it is determined that there is an intention to pass according to the roadside perception information and the vehicle's own sensing information, generate a passing control instruction according to the passing situation determined by the roadside perception information and the vehicle's own sensing information.

[0068] Specifically, after the cloud platform obtains the roadside perception information and the vehicle's own sensing information, it judges whether the vehicle is currently in a passing situation according to the roadside perception information and the vehicle's own sensing information. When the cloud platform determines that the current situation is a passing situation, the cloud platform judges whether there are obstacles at the road edge. If there are no obstacles at the road edge, the cloud platform determines the passing control instruction according to the passing conditions satisfied by the width of the vehicle's own body, the width of the oncoming vehicle, and the road width; if there are obstacles at the road edge, the cloud platform determines the passing control instruction according to the passing conditions satisfied by the width of the vehicle's own body, the width of the oncoming vehicle, the road width, and the passing conditions satisfied by the relative height and the wheel radius.

[0069] Step S5: Send the passing control instruction.

[0070] Specifically, after the cloud platform sends the passing control instruction to the vehicle, the vehicle adjusts the distance of the vehicle's own avoidance wheel in the width reverse direction according to the passing control instruction, and can also adjust the body height of the vehicle's own to complete the passing; after adjusting the distance of the vehicle's own avoidance wheel in the width reverse direction and the body height of the vehicle's own, when the vehicle still cannot complete the passing, an alarm is given to indicate that the passing cannot be completed, and at this time the driver takes over the vehicle and controls the vehicle.

[0071] According to the meeting vehicle control method of the embodiments of the present invention, during the driving process of a vehicle, the cloud platform real-time obtains roadside perception information and the vehicle's own sensing information. When it is determined that there is an intention to meet vehicles based on the roadside perception information and the vehicle's own sensing information, the cloud platform generates a meeting vehicle control instruction according to the roadside perception information and the vehicle's own sensing information, and adjusts the avoidance wheels of the vehicle or the body height of the vehicle through the meeting vehicle control instruction to achieve automatic meeting of vehicles, ensuring the intelligence of the meeting of autonomous vehicles, improving the vehicle travel efficiency and safety, and avoiding traffic congestion problems caused by meeting vehicles.

[0072] In some embodiments, the meeting vehicle control instruction includes at least one of a first meeting vehicle control instruction, a second meeting vehicle control instruction, a third meeting vehicle control instruction, and a fourth meeting vehicle control instruction.

[0073] Specifically, the first meeting vehicle control instruction corresponds to a first meeting vehicle condition, and the first meeting vehicle condition is 1 / 3×B < (A + B) - d ≤, where B is the body width of the vehicle itself, A is the width of the oncoming vehicle, and d is the width of the driving road; at this time, the vehicle cannot pass by meeting, and an alarm prompt is given.

[0074] The second meeting vehicle control instruction corresponds to a second meeting vehicle condition, and the second meeting vehicle condition is 0 ≤ (A + B) - d ≤ 1 / 3×B and H ≤ 0, where B is the body width of the vehicle itself, A is the width of the oncoming vehicle, d is the width of the driving road, and H is the relative height between the road edge and the driving road surface; at this time, the road is too narrow, and it is necessary to move the avoidance wheels from the outermost edge of the body along the body width direction to the position of 1 / 3×B of the body center, and control the body to drive out 1 / 3×B of the distance to the outside of the lane when meeting.

[0075] The third meeting vehicle control instruction corresponds to the second meeting vehicle condition, and the second meeting vehicle condition is 0 ≤ (A + B) - d ≤ 1 / 3×B and 0 < H ≤ 1 / 3×D, where B is the body width of the vehicle itself, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the driving road surface, and D is the wheel diameter; at this time, there are obstacles at the road edge, control the body height of the vehicle itself to rise by a height of 1 / 3×D, and move the avoidance wheels from the outermost edge of the body along the body width direction to the position of 1 / 3×B of the body center, and control the body to drive out 1 / 3×B of the distance to the outside of the lane when meeting.

[0076] The fourth meeting vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3×B and 1 / 3×D < H, where B is the body width of the vehicle itself, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the driving road surface, and D is the wheel diameter; at this time, there are obstacles at the road edge and the obstacles are too high, and the vehicle cannot pass by meeting, and an alarm prompt is given.

[0077] The third aspect of the embodiments of the present invention provides an electronic device, such asFigure 6 As shown in the figure, the electronic device 100 includes: at least one processor 101 and a memory 102.

[0078] Among them, at least one processor 101 is communicatively connected to the memory 102. A computer program executable by at least one processor 101 is stored in the memory 102. When the at least one processor 101 executes the computer program, a meeting vehicle control method is implemented.

[0079] According to the electronic device of the embodiment of the present invention, a corresponding meeting vehicle control program can be stored in the memory. When implementing the meeting vehicle control method, road-side perception information and own-vehicle sensing information are obtained in real time. When it is determined that there is an intention to meet a vehicle according to the road-side perception information and the own-vehicle sensing information, the cloud platform generates a meeting vehicle control instruction according to the road-side perception information and the own-vehicle sensing information, and adjusts the avoidance wheels of the own vehicle or the body height of the own vehicle through the meeting vehicle control instruction to achieve automatic meeting of vehicles, ensuring the intelligence of the meeting of autonomous vehicles, improving the vehicle travel efficiency and safety, and avoiding traffic congestion problems caused by meeting of vehicles.

[0080] An embodiment of the fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the meeting vehicle control method described in the above embodiment is implemented.

[0081] An embodiment of the fifth aspect of the present invention provides a vehicle, as Figure 7 shown, the vehicle 200 includes: a vehicle body 210, a vehicle body longitudinal movement track 201, a vehicle body longitudinal drive motor 202, avoidance wheels 203, a wheel movement track 204, a wheel lateral drive motor 205, a vehicle sensing device 206, an alarm and prompt device 207, a vehicle communication module 208, and a vehicle control unit 209.

[0082] Among them, as Figure 7 in (1) is a top view of the vehicle 200. As Figure 7Figure (2) is a side view of vehicle 200; the longitudinal vehicle body movement track 201 is arranged on the vehicle chassis and extends longitudinally along the vehicle body 210; the longitudinal vehicle body drive motor 202 is arranged at the bottom of the cockpit and is used to drive the vehicle body 210 to move along the longitudinal vehicle body movement track 201 to adjust the height of the vehicle body 210; the avoidance wheel 203 is located on one side of the vehicle; the wheel movement track 204 is located on the vehicle chassis and extends along the vehicle body width direction; the wheel lateral drive motor 205 is connected to the avoidance wheel 203 and is used to drive the avoidance wheel 203 to move along the wheel movement track 204; the vehicle sensing device 206 is used to collect self-vehicle sensing information, and the vehicle sensing device 206 can be an on-vehicle millimeter-wave radar; the alarm prompt device 207 is used to give an alarm prompt when passing a meeting vehicle is not possible; the vehicle communication module 208 is used to communicate with the roadside perception system 310; the vehicle control unit 209 is connected to the longitudinal vehicle body drive motor 202, the wheel lateral drive motor 205, the vehicle sensing device 206, the alarm prompt device 207 and the vehicle communication module 208 and is used for the meeting vehicle control method.

[0083] Specifically, the vehicle sensing device 206 can be an on-vehicle millimeter-wave radar. The vehicle sensing device 206 is arranged at the front end of the front bumper of the vehicle, collects the relative distance, speed, direction, etc. of the road surface vehicles, judges whether there are vehicles coming in the opposite direction in front of the road surface, judges whether there is an intention to pass a meeting vehicle, and transmits the information to the vehicle communication module 208; The vehicle communication module 208 is arranged at the bottom of the vehicle seat, receives the relative distance, speed, direction, etc. of the road surface vehicles collected by the on-vehicle millimeter-wave radar, and transmits the information to the roadside communication module 314 in the way of 4G / 5G. At the same time, it receives the meeting vehicle control instruction of the autonomous driving vehicle and transmits it to the vehicle control unit 209.

[0084] The vehicle control unit 209 receives the meeting vehicle control instruction of the autonomous driving vehicle issued by the cloud platform 320 transmitted by the vehicle communication module 208, and controls the wheel lateral drive motor 205, the longitudinal vehicle body drive motor 202, etc. according to the control instruction to adjust the state of the autonomous driving vehicle and perform meeting vehicle avoidance; when receiving the second meeting vehicle control instruction, it will adjust the avoidance vehicle to slide to one side, and at the same time the vehicle will drive to the road edge for avoidance. When receiving the third meeting vehicle control instruction, it will adjust the vehicle body to rise, and adjust the avoidance vehicle to slide to one side, and at the same time the vehicle will drive to the road edge for avoidance. When the wheel lateral drive motor 205 receives the control instruction issued by the vehicle control unit 209, it drives the avoidance vehicle to move inward to the vehicle center along the wheel movement track 204. On the one hand, it ensures that the vehicle can better drive a part of the vehicle body out of the lane, and on the other hand, it ensures the stable driving of the autonomous driving vehicle at the same time.

[0085] The wheel movement track 204 is connected to the wheel lateral drive motor 205 and the avoidance wheel 203. The avoidance wheel 203 can move inward toward the vehicle center along the wheel movement track 204 under the action of the wheel lateral drive motor 205.

[0086] The avoidance wheel 203 is arranged on one side of the autonomous vehicle. Under the action of the wheel lateral drive motor 205, it can move the wheel movement track 204 inward toward the vehicle center before meeting an oncoming vehicle, making preparations for meeting the oncoming vehicle and playing a role in avoiding during the meeting of oncoming vehicles.

[0087] The vehicle body longitudinal drive motor 202 is arranged at the bottom of the wheel cockpit, receives instructions sent by the vehicle control unit 209, and can drive the vehicle body 210 to slide along the vehicle body longitudinal movement track 201. When encountering a situation where the road edge is higher than the driving lane, it can raise the vehicle body 210 to ensure that the vehicle body 210 can drive out of the lane without being scratched by the road surface, thus playing a role in avoidance.

[0088] The vehicle body longitudinal movement track 201 is connected to the vehicle body longitudinal drive motor 202 and the vehicle body 210. The vehicle body 210 can move upward along the vehicle body longitudinal movement track 201 under the action of the vehicle body longitudinal drive motor 202.

[0089] The vehicle body 210 is connected to the vehicle body longitudinal drive motor 202 and the vehicle body longitudinal movement track 201. When encountering a situation where the road edge is higher than the driving lane, it can raise the vehicle body 210 to ensure that the vehicle body 210 can drive out of the lane without being scratched by the road surface, thus playing a role in avoidance.

[0090] When the alarm prompt device 207 receives the alarm instruction sent by the vehicle control unit 209, it will send an alarm prompt to the oncoming vehicle to reverse and change lanes, and at the same time prompt the driver to take over the vehicle.

[0091] For the vehicle according to the embodiment of the present invention, on a narrow road where normal oncoming vehicle meeting conditions are not met, it can obtain the oncoming vehicle meeting control instruction sent by the cloud platform through the vehicle communication module, and adjust the avoidance wheel or the vehicle body height of the self - vehicle according to the oncoming vehicle meeting control instruction to achieve automatic oncoming vehicle meeting. Or, when it is impossible to pass the oncoming vehicle meeting, it alarms to prompt that it is impossible to pass the oncoming vehicle meeting, ensuring the intelligence of the autonomous vehicle's oncoming vehicle meeting, improving the vehicle travel efficiency and safety, and avoiding traffic congestion problems caused by oncoming vehicle meetings.

[0092] An embodiment of the sixth aspect of the present invention provides an Internet of Vehicles system, as Figure 8 shown, the Internet of Vehicles system 300 includes: a vehicle 200, a roadside perception system 310, and a cloud platform 320.

[0093] Among them, the roadside perception system 310 includes a roadside camera 311, a roadside lidar 312, an edge computing unit 313, and a roadside communication module 314. The edge computing unit 313 is used to perform information fusion based on the information collected by the roadside camera 311 and the roadside lidar 312 to obtain roadside perception information. The roadside communication module 314 is used to send the roadside perception information and the ego-sensing information of the vehicle. The cloud platform 320 communicates with the roadside communication module 314 and the vehicle 200 and is used for the oncoming vehicle control method.

[0094] Specifically, the roadside camera 311 is arranged above the roadside pole, adopts wide dynamic range and large-angle field of view to detect the driving conditions of vehicles on the road surface, calculates the lane width d, the width A of the oncoming vehicle, the width B of its own vehicle body, and the motion postures and motion directions of the two vehicles through image perception, determines whether there is an oncoming vehicle and whether the current road surface width meets the oncoming vehicle of the current vehicle, and transmits the perceived and recognized information to the edge computing unit 313 for redundant judgment with the 3D information collected by the roadside lidar 312.

[0095] The roadside lidar 312 is arranged above the roadside pole, adopts a wide-angle detection field of view and a multi-beam collection method to collect the motion postures of vehicles on the road in real time, and establishes a three-dimensional model through multi-beam scanning to judge the relative height H between the road edge and the driving road surface, judges the feasibility of the current oncoming vehicle avoidance situation, and transmits it to the edge computing unit 313 for decision-making judgment on the avoidance strategy of the autonomous vehicle during oncoming vehicle.

[0096] The edge computing unit 313 receives the road surface width information, the height information between the road surface and the road edge, the motion information of the vehicle on the road, including motion speed, motion posture, etc., and the vehicle width information transmitted by the roadside camera 311 and the roadside lidar 312, and performs data fusion on the perception information of the road camera 311 and the lidar 312, providing a basis for the cloud platform 320 to perform oncoming vehicle control judgment operation instructions on the autonomous vehicle.

[0097] The cloud platform 320 receives the roadside perception information transmitted by the edge computing unit 313 to comprehensively judge the current oncoming vehicle situation on the road surface, and combines the on-vehicle millimeter-wave radar to judge the relative motion distance, motion direction, etc. of the two vehicles, and judges the passing situation of the two vehicles when meeting on the current driving road.

[0098] The side communication module 314 is arranged above the road pole, receives the relative distance, speed, direction, etc. of the road surface vehicles collected by the on-vehicle millimeter-wave radar transmitted by the vehicle communication module 208, and transmits the on-vehicle information to the cloud platform 320. At the same time, it receives the oncoming vehicle control instruction of the autonomous vehicle issued by the cloud platform 320 and transmits it to the vehicle communication module 208.

[0099] According to the vehicle networking system of the embodiments of the present invention, during the driving process of the vehicle, the cloud platform real-time obtains the roadside perception information and the self-vehicle sensing information. When it is determined that there is an intention of passing by each other according to the roadside perception information and the self-vehicle sensing information, the cloud platform generates a passing-by control instruction according to the roadside perception information and the self-vehicle sensing information, and adjusts the avoidance wheels of the self-vehicle or the body height of the self-vehicle through the passing-by control instruction to achieve automatic passing by each other, ensuring the intelligence of the passing by each other of autonomous driving vehicles, improving the vehicle travel efficiency and safety, and avoiding the traffic congestion problem caused by passing by each other.

[0100] For example, the working process of the vehicle networking system is as Figure 9 shown. The roadside collects road information through roadside cameras and roadside lidar, and sends the collected information to the edge computing unit. The edge computing unit performs data fusion on the received information; the vehicle side obtains self-vehicle information through on-vehicle millimeter-wave radar, and sends the obtained information to the roadside communication module through the vehicle communication module. The data fused by the edge computing unit is sent to the cloud platform through the roadside communication module; the cloud platform receives the roadside perception information transmitted by the edge computing unit to comprehensively judge the current passing-by situation on the road surface, and combines the on-vehicle millimeter-wave radar to judge the relative movement distance and movement direction of the two vehicles, etc., judges the passing-by situation of the two vehicles on the current driving road, and sends the passing-by control instruction to the roadside communication module. The roadside communication module then sends the passing-by control instruction to the vehicle communication module, and the vehicle communication module sends the passing-by control instruction to the vehicle control unit; the vehicle control unit controls the alarm prompt device to give an alarm prompt that passing by each other cannot be achieved according to the passing-by control instruction, or, the vehicle control unit controls the avoidance wheels to move from the outermost edge of the vehicle body to the position of 1 / 3×B in the width direction of the vehicle body according to the passing-by control instruction, and controls the vehicle body to drive out 1 / 3×B distance towards the outside of the lane during passing by each other, or, the vehicle control unit controls the body height of the self-vehicle to rise by a height of 1 / 3×D according to the passing-by control instruction, and the avoidance wheels move from the outermost edge of the vehicle body to the position of 1 / 3×B in the width direction of the vehicle body, and controls the vehicle body to drive out 1 / 3×B distance towards the outside of the lane during passing by each other.

[0101] In the description of the present specification, any process or method description in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a customized logic function or process, and the scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the technical field to which the embodiments of the present invention belong.

[0102] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definable sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing when necessary, and then storing it in a computer memory.

[0103] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0104] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0105] In addition, in each embodiment of the present invention, each functional unit can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0106] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0107] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, substrates, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0108] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle meeting control method, characterized in that, For the host vehicle, the oncoming vehicle control method includes: Receiving an oncoming vehicle control instruction, which is generated by the cloud platform based on roadside perception information and host vehicle sensing information; According to the oncoming vehicle control instruction, perform at least one of the following: Adjust the position of the avoidance wheel of the host vehicle in the vehicle width direction and control the relative position of the body of the host vehicle and the road edge, where the avoidance wheel is the wheel of the host vehicle close to the road edge, and the avoidance wheel is movable along the width direction of the host vehicle; Adjust the body height of the host vehicle; Alarm to indicate that oncoming vehicle passing is not possible.

2. The oncoming vehicle control method according to claim 1, wherein The roadside perception information includes the body width of the host vehicle, the width of the oncoming vehicle, and the width of the driving road; The oncoming vehicle control instruction is determined according to the oncoming vehicle condition satisfied by the body width of the host vehicle, the width of the oncoming vehicle, and the road width.

3. The oncoming vehicle control method according to claim 2, wherein The oncoming vehicle control instruction includes a first oncoming vehicle control instruction, and the first oncoming vehicle control instruction corresponds to a first oncoming vehicle condition, and the first oncoming vehicle condition is 1 / 3×B < (A + B) - d, where B is the body width of the host vehicle, A is the width of the oncoming vehicle, and d is the width of the driving road; When the oncoming vehicle control instruction is the first oncoming vehicle control instruction, alarm to indicate that oncoming vehicle passing is not possible.

4. The oncoming vehicle control method according to claim 3, wherein The oncoming vehicle control method further includes: When (A + B) - d < 0 is satisfied by the body width of the host vehicle, the width of the oncoming vehicle, and the road width, pass the oncoming vehicle according to the host vehicle sensing information.

5. The oncoming vehicle control method according to claim 2, wherein The roadside perception information further includes the relative height between the road edge and the driving road surface and the wheel diameter of the host vehicle; The oncoming vehicle control instruction is determined according to the oncoming vehicle condition satisfied by the body width of the host vehicle, the width of the oncoming vehicle, and the road width, and the oncoming vehicle condition satisfied by the relative height and the wheel radius.

6. The oncoming vehicle control method according to claim 5, wherein The oncoming vehicle control instruction further includes a second oncoming vehicle control instruction, and the second oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3×B and H ≤ 0, where B is the body width of the host vehicle, A is the width of the oncoming vehicle, d is the width of the driving road, and H is the relative height between the road edge and the driving road surface; When the oncoming vehicle control instruction is the second oncoming vehicle control instruction, the avoidance wheel moves from the outermost edge of the body to the position of 1 / 3×B in the body width direction, and controls the body to drive out 1 / 3×B distance towards the outside of the lane during oncoming vehicle passing.

7. The oncoming vehicle control method according to claim 5, wherein The oncoming vehicle control instruction further includes a third oncoming vehicle control instruction, and the third oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3×B and 0 < H ≤ 1 / 3×D, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the driving road surface, and D is the wheel diameter; When the oncoming vehicle control instruction is the third oncoming vehicle control instruction, control the body height of the own vehicle to rise by a height of 1 / 3×D, and the avoidance wheel moves from the outermost edge of the vehicle body to the position of 1 / 3×B in the vehicle body width direction along the vehicle body width direction, and control the vehicle body to drive out 1 / 3×B distance towards the outside of the lane during oncoming vehicle meeting.

8. The oncoming vehicle control method according to claim 5, wherein The oncoming vehicle control instruction further includes a fourth oncoming vehicle control instruction, and the fourth oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3×B and 1 / 3×D < H, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the driving road surface, and D is the wheel diameter; When the oncoming vehicle control instruction is the fourth oncoming vehicle control instruction, give an alarm prompt that oncoming vehicle meeting cannot pass through.

9. A meeting vehicle control method, characterized in that, For a cloud platform, the oncoming vehicle control method includes: Obtain roadside perception information and own vehicle sensing information; When it is determined that there is an intention of oncoming vehicle meeting according to the roadside perception information and the own vehicle sensing information, determine the oncoming vehicle meeting passing situation according to the roadside perception information and the own vehicle sensing information to generate an oncoming vehicle control instruction; Send the oncoming vehicle control instruction; Wherein, the roadside perception information includes the width of the own vehicle body, the width of the oncoming vehicle, and the width of the driving road; The roadside perception information includes the width of the own vehicle body, the width of the oncoming vehicle, the width of the driving road, the relative height between the road edge and the driving road surface, and the wheel diameter of the own vehicle. The oncoming vehicle control instruction is determined according to the oncoming vehicle meeting conditions satisfied by the width of the own vehicle body, the width of the oncoming vehicle, and the road width, and / or, the oncoming vehicle control instruction is determined according to the oncoming vehicle meeting conditions satisfied by the width of the own vehicle body, the width of the oncoming vehicle, and the road width, as well as the oncoming vehicle meeting conditions satisfied by the relative height and the wheel radius.

10. The oncoming vehicle control method according to claim 9, characterized in that The oncoming vehicle control instruction includes at least one of a first oncoming vehicle control instruction, a second oncoming vehicle control instruction, a third oncoming vehicle control instruction, and a fourth oncoming vehicle control instruction, wherein The first oncoming vehicle control instruction corresponds to a first oncoming vehicle meeting condition, and the first oncoming vehicle meeting condition is 1 / 3×B < (A + B) - d ≤, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, and d is the width of the driving road; The second oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3×B and H ≤ 0, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, d is the width of the driving road, and H is the relative height between the road edge and the driving road surface; The third oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3 × B and 0 < H ≤ 1 / 3 × D, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the driving road surface, and D is the wheel diameter; The fourth oncoming vehicle control instruction corresponds to 0 ≤ (A + B) - d ≤ 1 / 3 × B and 1 / 3 × D < H, where B is the width of the own vehicle body, A is the width of the oncoming vehicle, d is the width of the driving road, H is the relative height between the road edge and the driving road surface, and D is the wheel diameter.

11. An electronic device, characterized in that, Comprising: At least one processor; A memory communicatively connected to the at least one processor; The memory stores a computer program executable by the at least one processor, and when the at least one processor executes the computer program, it implements the oncoming vehicle control method according to any one of claims 1 - 8 or executes the oncoming vehicle control method according to claim 9 or 10.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed, it implements the oncoming vehicle control method according to any one of claims 1 - 8 or executes the oncoming vehicle control method according to claim 9 or 10.

13. A vehicle, characterized in that, Comprising: A vehicle body; A longitudinal vehicle body movement track, which is arranged on the vehicle chassis and extends longitudinally along the vehicle body; A longitudinal vehicle body drive motor, which is arranged at the bottom of the cockpit and is used to drive the vehicle body to move along the longitudinal vehicle body movement track to adjust the vehicle body height; Avoidance wheels, located on one side of the vehicle; A wheel movement track, which is located on the vehicle chassis and extends along the width direction of the vehicle body; A wheel transverse drive motor, which is connected to the avoidance wheels and is used to drive the avoidance wheels to move along the wheel movement track; A vehicle sensing device, which is used to collect own vehicle sensing information; An alarm prompt device, which is used to give an alarm prompt when the oncoming vehicle cannot pass; A vehicle communication module, which is used to communicate with the roadside perception system; A vehicle control unit, which is connected to the longitudinal vehicle body drive motor, the wheel transverse drive motor, the vehicle sensing device, the alarm prompt device and the vehicle communication module, and is used to execute the oncoming vehicle control method according to any one of claims 1 - 8.

14. A vehicle networking system, characterized in that, Comprising: The vehicle according to claim 13; A roadside perception system, the roadside perception system includes a roadside camera, a roadside lidar, an edge computing unit and a roadside communication module, the edge computing unit is used to perform information fusion on the information collected by the roadside camera and the information collected by the roadside lidar to obtain roadside perception information, and the roadside communication module is used to send the roadside perception information and the own vehicle sensing information of the vehicle; A cloud platform, which communicates with the roadside communication module and the vehicle, and is used to execute the oncoming vehicle control method according to claim 9 or 10.

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