Vehicle avoidance method, device, equipment, storage medium and program product

Abstract

The invention relates to a vehicle avoidance method, device and equipment, a storage medium and a program product, and relates to the technical field of vehicle control. The method comprises the following steps: in response to an avoidance judgment triggering request, acquiring a bird's-eye view of a vehicle in a target area and determining a to-be-avoided vehicle in the bird's-eye view, judging whether avoidance is needed or not according to the positions of the vehicle and the to-be-avoided vehicle in the bird's-eye view, and if the avoidance is needed, judging whether the avoidance is needed or not; and the avoidance position can be confirmed in the aerial view and avoidance can be carried out. The top-down view angle around the vehicle can be obtained by using the aerial view, so that the position and contour information of the vehicle, the vehicle to be avoided and other objects in the target area can be visually and clearly confirmed, and on the basis, whether the vehicle obstructs the passing of the vehicle to be avoided or not can be judged more easily; therefore, the decision-making difficulty of vehicle avoidance can be reduced, and the safety of road driving is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle avoidance method, device, equipment, storage medium and program product. Background Art

[0002] With the development of the automotive industry, the number of private cars is increasing. In daily traffic scenarios, due to factors such as speed limits or congestion, the car is sometimes forced to drive at a low speed or even park. If a special vehicle such as an ambulance appears at this time, the car may need to avoid it.

[0003] Currently, in situations where the vehicle needs to avoid special vehicles, drivers are still required to actively judge and control the vehicle's avoidance. This approach relies too much on the driver's driving experience and skills. If the driver's experience and skills are insufficient, they may make incorrect decisions, which is not conducive to driving safety. Summary of the Invention

[0004] One of the purposes of the present invention is to provide a vehicle avoidance method, device, equipment, storage medium and program product to solve the problem of high difficulty in vehicle avoidance.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A vehicle avoidance method, the method comprising:

[0007] In response to triggering an avoidance determination request, obtaining a bird's-eye view of the ego vehicle in the target area, and determining a vehicle to be avoided in the bird's-eye view;

[0008] Determining whether avoidance is required based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view;

[0009] If avoidance is required, a target avoidance position is determined based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view, and the vehicle is controlled to move to the target avoidance position.

[0010] Furthermore, judging whether avoidance is required based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view includes:

[0011] Predicting a driving trajectory of the vehicle to be avoided within the next m seconds in the bird's-eye view based on the position of the vehicle to be avoided in the bird's-eye view;

[0012] Based on the vehicle's position and the driving trajectory in the next m seconds, determine whether the vehicle's outline in the bird's-eye view overlaps with the vehicle to be avoided in the bird's-eye view. If so, avoidance is required; otherwise, avoidance is not required.

[0013] Furthermore, predicting a driving trajectory of the vehicle to be avoided within the next m seconds in the bird's-eye view based on the position of the vehicle to be avoided in the bird's-eye view includes:

[0014] Obtaining lane line information in the bird's-eye view and / or the driving trajectory of the vehicle to be avoided within the next n seconds, where n<m;

[0015] The driving trajectory of the vehicle to be avoided within the next m seconds is predicted based on the lane line information and / or the driving trajectory within n seconds.

[0016] Further, determining a target avoidance position based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view includes:

[0017] Move the outline of the vehicle in the bird's-eye view away from the driving trajectory until the outline of the vehicle in the bird's-eye view does not overlap with the outline of the vehicle to be avoided in the bird's-eye view, then stop moving and generate a target avoidance position based on the outline of the vehicle in the bird's-eye view at this time.

[0018] Furthermore, the triggering conditions for the avoidance determination request include:

[0019] Identify whether there are vehicles to be avoided around the vehicle;

[0020] If so, it is determined whether the vehicle to be avoided and the vehicle are in the same lane or adjacent lanes. If so, an avoidance determination request is triggered.

[0021] Furthermore, if the vehicle to be avoided is a special vehicle, the step of identifying whether there is a vehicle to be avoided around the vehicle includes:

[0022] Collecting sound information around the vehicle and determining whether the sound information contains a horn sound of a special vehicle;

[0023] If there is a horn sound from a special vehicle, image information of the direction of the sound source of the horn sound is obtained;

[0024] It is identified based on the image information whether a special vehicle exists.

[0025] A vehicle avoidance device, comprising:

[0026] an acquisition module, configured to acquire a bird's-eye view of the ego vehicle in the target area in response to triggering an avoidance determination request, and determine a vehicle to be avoided in the bird's-eye view;

[0027] a judgment module, configured to judge whether avoidance is required based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view;

[0028] The avoidance module is used to determine a target avoidance position based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view when avoidance is required, and to control the vehicle to move to the target avoidance position.

[0029] An electronic device comprises: a processor, and a memory communicatively connected to the processor;

[0030] The memory stores computer-executable instructions;

[0031] The processor executes the computer-executable instructions stored in the memory to implement any of the above vehicle avoidance methods.

[0032] A computer-readable storage medium comprises: computer-executable instructions stored in the computer-readable storage medium, wherein the computer-executable instructions are used to implement any of the above vehicle avoidance methods when executed by a processor.

[0033] A computer program product includes a computer program, which implements any of the above vehicle avoidance methods when executed by a processor.

[0034] The beneficial effects of the present invention are as follows: a bird's-eye view can be used to obtain a top-down perspective around the vehicle, so that the position and outline information of the vehicle and other objects in the target area such as the vehicle to be avoided can be intuitively and clearly confirmed. On this basis, it can be more easily judged whether the vehicle will hinder the passage of the vehicle to be avoided, thereby reducing the difficulty of vehicle avoidance decision-making and improving road driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a vehicle avoidance method provided by an exemplary embodiment of the present invention Figure 1 ;

[0036] Figure 2 A schematic diagram of a bird's-eye view of a target area provided for an exemplary embodiment of the present invention;

[0037] Figure 3 A schematic diagram of a vehicle moving process provided by an exemplary embodiment of the present invention;

[0038] Figure 4 A schematic diagram of a vehicle avoidance method provided by an exemplary embodiment of the present invention Figure 2 ;

[0039] Figure 5 A schematic diagram of avoiding a vehicle ahead is provided in accordance with an exemplary embodiment of the present invention;

[0040] Figure 6 A schematic diagram of avoiding a vehicle behind provided by an exemplary embodiment of the present invention;

[0041] Figure 7 A schematic diagram of avoiding a vehicle in an adjacent lane provided by an exemplary embodiment of the present invention;

[0042] Figure 8 A schematic diagram of avoiding vehicles behind on a congested road section provided by an exemplary embodiment of the present invention;

[0043] Figure 9 A schematic structural diagram of a vehicle avoidance device provided by an exemplary embodiment of the present invention;

[0044] Figure 10 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present invention.

[0045] The above drawings have shown specific embodiments of the present invention, which will be described in more detail below. These drawings and the text description are not intended to limit the scope of the present invention in any way, but rather to illustrate the concept of the present invention to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0046] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0047] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0048] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0049] The terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, product, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, product, or apparatus. Without further limitation, the presence of additional identical or equivalent elements in a process, method, product, or apparatus that includes the elements is not precluded. For example, the terms "first," "second," etc., when used, are used to indicate names and do not imply any particular order.

[0050] With the development of the automotive industry and the continuous improvement of people's living standards, the number of private cars has continued to rise, and driving has become increasingly common. The increase in vehicles has increased the complexity of road scenes, making safe driving increasingly difficult for both human and intelligent drivers. In particular, in situations where special vehicles or large, dangerous vehicles are present, the vehicle may need to make an evasive move to ensure safety.

[0051] If your vehicle encounters a breakdown, speed limit, or congestion, other vehicles may need to take priority. For example, specialized vehicles like ambulances or fire trucks on duty, or dangerous vehicles like large dump trucks that are too wide, may encroach on your lane. To ensure driving safety, your vehicle may need to yield to these specialized or dangerous vehicles to a certain extent. Whether to take evasive action and how to do so require the driver or the intelligent driving system to make accurate decisions, which places extremely high demands on the decision-making capabilities of both the driver and the intelligent driving system. Incorrect decisions can impact not only your vehicle's safety, but also the safety of other vehicles.

[0052] Based on this, a technical concept is proposed. When the ego vehicle faces the decision of whether to avoid an obstacle and how to avoid it, it uses technologies such as multi-view fusion to obtain a BEV (Bird's-Eye-View) view of the target area. The position of vehicles waiting to be avoided, such as special vehicles, is confirmed in the BEV view. Based on the positions of the ego vehicle and the vehicle to be avoided in the BEV view, it is determined whether the ego vehicle will hinder the passage of the vehicle to be avoided, thereby deciding whether to take evasive measures. A safe avoidance position can also be determined in the BEV view based on the positions of the ego vehicle and the vehicle to be avoided. The movement of the ego vehicle is controlled with this avoidance position as the target to achieve avoidance. Using the positions of the ego vehicle and the vehicle to be avoided in the BEV view, it can assist the driver or intelligent driving system in more intuitively judging the need for avoidance and more easily achieving the avoidance goal, reducing the difficulty of vehicle avoidance decision-making and improving driving safety.

[0053] The application scenarios mentioned above are only some examples. Those skilled in the art can expand the application according to specific needs and scenarios. The embodiments of the present invention do not impose specific limitations on this. Figures 1 to 5 A testing method according to an exemplary embodiment of the present invention will be described.

[0054] Figure 1 FIG. 1 is a flow chart of a vehicle avoidance method provided by an exemplary embodiment of the present invention. Figure 1 As shown, the method may include:

[0055] Step S101 : In response to triggering an avoidance determination request, obtaining a bird's-eye view of the vehicle in the target area, and determining a vehicle to be avoided in the bird's-eye view.

[0056] Among them, the bird's-eye view can also be called the BEV view. The BEV view refers to the picture observed from the BEV perspective (Bird's-Eye-View). The target area can be customized. For example, it can be a rectangular area from 5 meters to the left and 5 meters to the right of the vehicle, and from 10 meters in front to 10 meters behind. It can also be set to other irregularly shaped areas according to actual needs. The actual need is to include the vehicle to be avoided in the display range of the bird's-eye view. If the target area does not contain the vehicle to be avoided, or if the vehicle to be avoided is not found in the bird's-eye view, the coverage of the target area can be expanded and the bird's-eye view can be re-acquired until the vehicle to be avoided appears in the bird's-eye view.

[0057] In an embodiment of the present invention, an avoidance determination request can be triggered based on a user command. For example, if a driver observes a nearby special vehicle, such as an ambulance, or a large, dangerous vehicle that may need to be avoided, the driver can trigger an avoidance determination request through a voice command. Furthermore, the intelligent driving or vehicle-mounted system can also automatically trigger an avoidance determination request based on its perception of the vehicle's surroundings. For example, if the vehicle-mounted system detects the presence of a nearby vehicle to be avoided through sensors such as cameras or radar, this can also trigger an avoidance determination request.

[0058] In an embodiment of the present invention, the vehicle is the vehicle that the user rides in. The vehicle can be equipped with cameras with multiple perspectives, such as a front camera, a right camera, and a rear camera. Through image projection and stitching technology, a BEV perspective image can be generated based on the images taken by multiple cameras. For example, objects captured by vehicle-mounted cameras such as the rear camera will present a top-down bird's-eye view from the BEV perspective. The observation result includes the position of the object in the BEV view and its outline from the bird's-eye view.

[0059] For example, after acquiring a bird's-eye view, the vehicle can display the view on the central control screen. The user can then specify the vehicle to avoid in the view by clicking on the central control screen or using voice commands. For example, if the third vehicle behind the vehicle in the lane is an ambulance, the user can specify the vehicle to avoid by using the voice command "The third vehicle directly behind is the vehicle to avoid."

[0060] For example, after obtaining the bird's-eye view, the intelligent driving or vehicle-computer system can also automatically identify the vehicle to be avoided in the bird's-eye view. For example, if the intelligent driving system has captured an ambulance behind it through the on-board camera before triggering the avoidance judgment request, the ambulance can be determined in the bird's-eye view based on the mapping relationship between the parameters of the on-board camera and the bird's-eye view.

[0061] Step S102 : Determine whether avoidance is required based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view.

[0062] In an embodiment of the present invention, multiple avoidance judgment rules can be set based on information such as the position and outline of the vehicle and the vehicle to be avoided in the bird's-eye view. These avoidance judgment rules can be applied one by one or combined with multiple rules for comprehensive judgment.

[0063] For example, in a bird's-eye view, the width of the vehicle to be avoided can be determined, and then the width of the passable space to the left or right of the vehicle can be determined. If the width of the passable space is greater than the width of the vehicle to be avoided, it can be determined that avoidance is not necessary; otherwise, avoidance is required. For example, if there is an obstacle such as a wall to the right of the vehicle, the lateral distance between the wall and the vehicle can be used as the width of the passable space.

[0064] For example, if the vehicle is traveling at a low speed, a passing point can be determined based on the speed of the vehicle and the vehicle to be avoided. If the width of the passing point is large enough to accommodate the vehicle and the vehicle to be avoided passing side by side, it can be determined that no avoidance is required.

[0065] In step S103 , if avoidance is required, a target avoidance position is determined based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view, and the vehicle is controlled to move to the target avoidance position.

[0066] In an embodiment of the present invention, based on the positions and outlines of the ego vehicle and the vehicle to be avoided in the bird's-eye view, a target avoidance position that is large enough for the vehicle to be avoided to pass can be selected in the bird's-eye view. After the ego vehicle moves to the target avoidance position, the width of the passable space on at least one side of the ego vehicle's left and right sides is greater than the width of the vehicle to be avoided.

[0067] In some possible implementations, multi-source environmental perception data can also be acquired through sensors such as radar, and this data can be used to correct the bird's-eye view or identify vehicles to be avoided.

[0068] It should be noted that the target avoidance position can represent the pose of the ego vehicle after it reaches that position. For example, if the ego vehicle's frontal orientation is parallel to the lane marking before the avoidance attempt, and there is limited space for the ego vehicle to maneuver in traffic, the ego vehicle's frontal orientation can be tilted toward one lane marking after reaching the target avoidance position. To address this situation, a vehicle outline can be drawn at the target avoidance position in the bird's-eye view, and the ego vehicle can be controlled to move until its projected outline in the bird's-eye view coincides with the drawn outline.

[0069] In the above embodiment, when a decision is needed to avoid a vehicle, a bird's-eye view of the ego vehicle in the target area is obtained and the vehicle to be avoided is identified in the bird's-eye view. The decision to avoid a vehicle can then be made based on the positions of the ego vehicle and the vehicle to be avoided in the bird's-eye view. If avoidance is necessary, the avoidance position can be confirmed in the bird's-eye view and the avoidance action can be taken. The bird's-eye view provides a top-down perspective of the ego vehicle's surroundings, allowing for intuitive and clear confirmation of the positions and outlines of objects within the target area, such as the ego vehicle and the vehicle to be avoided. This makes it easier to determine whether the ego vehicle will obstruct the passage of the vehicle to be avoided, thereby reducing the difficulty of vehicle avoidance decision-making and improving road safety.

[0070] In one embodiment, the triggering conditions for the avoidance determination request include:

[0071] Identify whether there are vehicles to be avoided around the vehicle; if so, determine whether the special vehicle and the vehicle are in the same lane or adjacent lanes. If so, trigger an avoidance judgment request.

[0072] For example, the vehicle can periodically sense its surroundings through onboard cameras and other devices. For example, it can capture images of its surroundings and identify any vehicles in the images that resemble special vehicles or dangerous vehicles in the database. If so, it identifies the vehicle to be avoided. The system can then determine whether the vehicle is in the same lane as the vehicle or in an adjacent lane. The database can be stored locally on the vehicle or on a cloud server.

[0073] In some possible implementations, identifying whether there are vehicles to be avoided around the vehicle includes: collecting sound information around the vehicle, and determining whether there is a horn sound of a special vehicle in the sound information; if there is a horn sound of a special vehicle, obtaining image information of the direction of the sound source of the horn sound; and identifying whether there is a special vehicle based on the image information.

[0074] The process of periodically capturing images with a camera and identifying whether there are vehicles to be avoided consumes a significant amount of the vehicle's resources. However, in the aforementioned implementation, the vehicle can periodically capture sounds around the vehicle, intercepting sound fragments and calculating the similarity between these sounds and the sirens of special vehicles such as ambulances and fire trucks performing missions. When the sound's similarity to any of the sirens reaches a certain level, the vehicle's camera captures an image in the direction of the sound's source and identifies the special vehicle. By periodically capturing sound instead of images, the vehicle's resources are reduced by the frequent image capture and recognition, saving software costs.

[0075] In one embodiment, determining whether to avoid an obstacle based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view includes:

[0076] Based on the position of the vehicle to be avoided in the bird's-eye view, predict the driving trajectory of the vehicle to be avoided in the next m seconds in the bird's-eye view. Based on the position of the own vehicle and the driving trajectory in the next m seconds, determine whether the outline of the own vehicle in the bird's-eye view overlaps with the outline of the vehicle to be avoided in the bird's-eye view. If so, avoidance is required; otherwise, no avoidance is required.

[0077] Figure 2 A schematic diagram of a bird's-eye view of a target area provided by an exemplary embodiment of the present invention. Figure 2 As shown, the vehicle is in a parking state, and a special vehicle is coming from the right rear of the vehicle. If the special vehicle's trajectory in the next 10 seconds is predicted to be Figure 2 As shown by the middle dotted line, it can be determined that the special vehicle may collide with the own vehicle when it reaches the point indicated by the arrow. In this case, the outline of the special vehicle can be drawn at this position according to the width of the special vehicle. The outline should at least include the left boundary of the special vehicle. If the drawn outline overlaps with the outline of the own vehicle, it is necessary to avoid it.

[0078] In some possible implementations, predicting the driving trajectory of the vehicle to be avoided within the next m seconds in the bird's-eye view based on the position of the vehicle to be avoided in the bird's-eye view can be achieved in the following manner.

[0079] For example, lane line information from a bird's-eye view can be obtained, and the trajectory of the vehicle to be avoided within the next m seconds can be predicted based on the lane line information. For example, the lane selected by the vehicle to be avoided can be determined based on the lane line information, thereby predicting its subsequent trajectory.

[0080] For example, the driving trajectory of the vehicle to be avoided in the next n seconds in the bird's-eye view can be obtained, and the driving trajectory of the vehicle to be avoided in the next m seconds can be predicted based on the driving trajectory in the n seconds, where n<m.

[0081] For example, if n is 5 and m is 10, the driving trajectory of the vehicle to be avoided within 5 seconds can be drawn according to the position change of the vehicle to be avoided in the bird's-eye view, and the driving trajectory within 10 seconds can be further predicted based on the driving trajectory.

[0082] In an embodiment of the present invention, the driving trajectory of the vehicle to be avoided in the future period of time can be predicted in the bird's-eye view. Based on the driving trajectory, the outline of the vehicle to be avoided close to the own vehicle can be drawn at the trajectory point where the vehicle to be avoided and the own vehicle are closest. Through the outline of the own vehicle in the bird's-eye view and the outline of the drawn vehicle to be avoided at the future trajectory point, it can be intuitively judged whether there is an overlapping part between the two outlines. If so, it is considered that the own vehicle will hinder the driving of the vehicle to be avoided and needs to be avoided. If there is no overlapping part between the two outlines, no avoidance is required.

[0083] In one embodiment, determining a target avoidance position based on the positions of the ego vehicle and the vehicle to be avoided in a bird's-eye view includes:

[0084] Move the vehicle's outline in the bird's-eye view away from the driving trajectory until the vehicle's outline in the bird's-eye view no longer overlaps with the vehicle to be avoided. Then stop moving and generate the target avoidance position based on the vehicle's outline in the bird's-eye view at this time.

[0085] Figure 3 A schematic diagram of a vehicle movement process provided by an exemplary embodiment of the present invention.

[0086] In the embodiment of the present invention, for situations where the vehicle has little room to maneuver, such as narrow roads, a virtual outline (e.g., Figure 3 (As shown in the dashed box on the left side of the figure, which matches the ego vehicle's outline) By moving this virtual outline in the bird's-eye view, it is easier to find the target avoidance position that meets the avoidance requirements. The target avoidance position can also represent the direction of the ego vehicle's head after it moves. With the target avoidance position as the moving target, the ego vehicle can be moved from this position through intelligent driving algorithms or manual control until the actual projection outline of the ego vehicle in the bird's-eye view coincides with the drawn outline. Figure 3 As shown, the vehicle faces forward before moving, and the target avoidance position determined based on the movable space in the bird's-eye view is as follows: Figure 3 As shown in the virtual outline on the left, the vehicle moves as Figure 3 As shown on the right, the front of the vehicle is tilted to the left after moving.

[0087] In the above embodiment, the target avoidance position of the vehicle is determined based on the bird's-eye view, and the avoidance effect of the vehicle at the target avoidance position can be intuitively seen in the bird's-eye view, thereby reducing the difficulty of selecting the target avoidance position and improving the selection accuracy, thereby reducing the avoidance difficulty and ensuring vehicle safety.

[0088] Figure 4 A schematic diagram of a vehicle avoidance method provided by an exemplary embodiment of the present invention Figure 2 .like Figure 4 As shown in the figure, the vehicle can determine the type of surrounding vehicles. If they are all ordinary vehicles, there is no need to avoid them and the vehicle can continue to drive normally. If there are special vehicles or dangerous vehicles, different avoidance strategies can be adopted when it is necessary to deal with them.

[0089] Figure 5 A schematic diagram of avoiding a vehicle ahead is provided in accordance with an exemplary embodiment of the present invention. Figure 6 A schematic diagram of avoiding a vehicle behind is provided in accordance with an exemplary embodiment of the present invention. Figure 7 A schematic diagram of avoiding a vehicle in an adjacent lane provided by an exemplary embodiment of the present invention. Figure 8 A schematic diagram of avoiding a vehicle behind on a congested road section provided by an exemplary embodiment of the present invention.

[0090] like Figure 5 、 Figure 6 and Figure 7 As shown, when a dangerous vehicle is identified in the adjacent lane, the vehicle adopts a strategy of shifting in the opposite direction of the dangerous vehicle within the vehicle's lane and accelerating to avoid it; when a dangerous vehicle is identified in front of the vehicle in the vehicle's lane or approaching quickly from behind, the vehicle changes lanes in advance to a passable lane to avoid it.

[0091] like Figure 8 As shown in the figure, in some congested road environments, the preferred strategy of the vehicle may be to deviate to the lane line on one side and drive close to the lane line. If the special vehicle behind fails to overtake the vehicle within 5 seconds, the system will alarm to remind the driver to take over and avoid the vehicle behind.

[0092] Figure 9 FIG. 1 is a schematic structural diagram of a vehicle avoidance device provided by an exemplary embodiment of the present invention. Figure 9 As shown, the vehicle avoidance device 900 may include:

[0093] an acquisition module 901 for acquiring a bird's-eye view of the ego vehicle in the target area in response to triggering an avoidance determination request, and determining a vehicle to be avoided in the bird's-eye view;

[0094] A judgment module 902 is used to judge whether avoidance is required based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view;

[0095] The avoidance module 903 is used to determine a target avoidance position based on the positions of the ego vehicle and the vehicle to be avoided in the bird's-eye view when avoidance is required, and control the ego vehicle to move to the target avoidance position.

[0096] In one embodiment, the judgment module 902 is further used to: predict the driving trajectory of the vehicle to be avoided in the next m seconds in the bird's-eye view based on the position of the vehicle to be avoided in the bird's-eye view; and judge whether the outline of the vehicle in the bird's-eye view and the outline of the vehicle to be avoided in the bird's-eye view overlap based on the position of the vehicle and the driving trajectory in the next m seconds. If so, avoidance is required; if not, avoidance is not required.

[0097] In one embodiment, the judgment module 902 is further used to: obtain the lane line information in the bird's-eye view and / or the driving trajectory of the vehicle to be avoided in the next n seconds, n<m; and predict the driving trajectory of the vehicle to be avoided in the next m seconds based on the lane line information and / or the driving trajectory in the n seconds.

[0098] In one embodiment, the avoidance module 903 is further used to: move the outline of the vehicle in the bird's-eye view in a direction away from the driving trajectory until the outline of the vehicle in the bird's-eye view and the outline of the vehicle to be avoided in the bird's-eye view no longer overlap, stop moving, and generate a target avoidance position based on the outline of the vehicle in the bird's-eye view at this time.

[0099] In one embodiment, the acquisition module 901 is further used to: identify whether there is a vehicle to be avoided around the vehicle; if so, determine whether the vehicle to be avoided and the vehicle are in the same lane or adjacent lanes, and if so, trigger an avoidance determination request.

[0100] In one embodiment, the acquisition module 901 is also used to: collect sound information around the vehicle and determine whether there is a horn sound of a special vehicle in the sound information; if there is a horn sound of a special vehicle, obtain image information of the direction of the sound source of the horn sound; and identify whether there is a special vehicle based on the image information.

[0101] The vehicle avoidance device provided in this embodiment is used to implement the technical solution in any of the aforementioned method embodiments. Its implementation principles and technical effects are similar and will not be described in detail here.

[0102] It should be understood that the above-described device embodiments are merely illustrative, and the devices of the present invention may be implemented in other ways. For example, the division of units / modules in the above-described embodiments is merely a logical functional division, and actual implementations may employ alternative divisions. For example, multiple units, modules, or components may be combined or integrated into another system, or some features may be omitted or not implemented.

[0103] In addition, unless otherwise specified, the functional units / modules in the various embodiments of the present invention may be integrated into a single unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The aforementioned integrated units / modules may be implemented in the form of hardware or software program modules.

[0104] Figure 10 FIG1 is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present invention. Figure 10 As shown, the electronic device 100 includes:

[0105] Processor 101, memory 102, and communication interface 103;

[0106] The memory 102 is used to store executable instructions of the processor 101; the executable instructions may be computer-executable instructions;

[0107] The processor 101 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the executable instructions.

[0108] Optionally, the memory 102 may be independent or integrated with the processor 101 .

[0109] Optionally, when the memory 102 is a device independent of the processor 101, the electronic device 100 may further include:

[0110] The bus 104 , the memory 102 and the communication interface 103 are connected to the processor 101 via the bus 104 and communicate with each other. The communication interface 103 is used to communicate with other devices.

[0111] Optionally, the communication interface 103 may be implemented using a transceiver. The communication interface is used to enable communication between the database access device and other devices (e.g., a client, a read-write library, and a read-only library). The memory may include random access memory (RAM) and may also include non-volatile memory (non-volatile memory), such as at least one disk storage device.

[0112] Bus 104 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the figure uses only one line, but this does not imply that there is only one bus or only one type of bus.

[0113] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0114] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principles and technical effects are similar and will not be repeated here.

[0115] An embodiment of the present invention further provides a readable storage medium, which may be a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the technical solution provided by any of the aforementioned method embodiments is implemented.

[0116] An embodiment of the present invention further provides a computer program product, including a computer program, which is used to implement the technical solution provided by any of the aforementioned method embodiments when executed by a processor.

[0117] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0118] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined in any way. To keep the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0119] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the following claims.

[0120] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or modification made by those skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A vehicle avoidance method, characterized in that: include: In response to triggering an avoidance determination request, obtaining a bird's-eye view of the ego vehicle in the target area, and determining a vehicle to be avoided in the bird's-eye view; Determining whether avoidance is required based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view; If avoidance is required, a target avoidance position is determined based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view, and the vehicle is controlled to move to the target avoidance position.

2. The vehicle avoidance method according to claim 1, characterized in that: The determining whether avoidance is required based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view includes: Predicting a driving trajectory of the vehicle to be avoided within the next m seconds in the bird's-eye view according to the position of the vehicle to be avoided in the bird's-eye view; Based on the vehicle's position and the driving trajectory in the next m seconds, determine whether the vehicle's outline in the bird's-eye view overlaps with the vehicle to be avoided in the bird's-eye view. If so, avoidance is required; otherwise, avoidance is not required.

3. The vehicle avoidance method according to claim 2, characterized in that: The step of predicting a driving trajectory of the vehicle to be avoided within the next m seconds in the bird's-eye view based on the position of the vehicle to be avoided in the bird's-eye view includes: Obtaining lane line information in the bird's-eye view and / or the driving trajectory of the vehicle to be avoided within the next n seconds, where n<m; The driving trajectory of the vehicle to be avoided within the next m seconds is predicted based on the lane line information and / or the driving trajectory within n seconds.

4. The vehicle avoidance method according to claim 2 or 3, characterized in that: The determining the target avoidance position based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view includes: Move the outline of the vehicle in the bird's-eye view away from the driving trajectory until the outline of the vehicle in the bird's-eye view does not overlap with the outline of the vehicle to be avoided in the bird's-eye view, then stop moving and generate a target avoidance position based on the outline of the vehicle in the bird's-eye view at this time.

5. The vehicle avoidance method according to any one of claims 1 to 3, characterized in that: The triggering conditions of the avoidance determination request include: Identify whether there are vehicles to be avoided around the vehicle; If so, it is determined whether the vehicle to be avoided and the vehicle are in the same lane or adjacent lanes. If so, an avoidance determination request is triggered.

6. The vehicle avoidance method according to claim 5, characterized in that: The vehicle to be avoided is a special vehicle, and the step of identifying whether there is a vehicle to be avoided around the vehicle includes: Collecting sound information around the vehicle and determining whether the sound information contains a horn sound of a special vehicle; If there is a horn sound from a special vehicle, image information of the direction of the sound source of the horn sound is obtained; It is identified based on the image information whether a special vehicle exists.

7. A vehicle avoidance device, characterized in that: include: an acquisition module, configured to acquire a bird's-eye view of the ego vehicle in the target area in response to triggering an avoidance determination request, and determine a vehicle to be avoided in the bird's-eye view; a judgment module, configured to judge whether avoidance is required based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view; The avoidance module is used to determine a target avoidance position based on the positions of the vehicle and the vehicle to be avoided in the bird's-eye view when avoidance is required, and to control the vehicle to move to the target avoidance position.

8. An electronic device, characterized in that: include: a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 6 when being executed by a processor.

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