Vehicle avoidance method

Abstract

The invention relates to the technical field of automatic driving, in particular to a vehicle avoidance method. The method comprises the steps that when it is detected that an opposite coming vehicle exists on a curve road section in front of a user vehicle during driving, motion state information of the user vehicle, vehicle information of the opposite coming vehicle and road information of the curve road section are obtained; wherein the vehicle information comprises vehicle type information and motion state information; based on the motion state information of the user vehicle, the vehicle information of the opposite coming vehicle and the road information of the curve road section, predicting the driving state of the opposite coming vehicle when the opposite coming vehicle meets the user vehicle; the driving state comprises on-road driving and non-on-road driving; determining a corresponding avoidance driving strategy according to the driving state; and controlling the user vehicle to execute the avoidance driving strategy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, and in particular to a vehicle avoidance method. BACKGROUND

[0002] Automatic driving is a technology that uses artificial intelligence, computer vision, and big data to enable vehicles to drive autonomously without human intervention. Current automatic driving is mostly applied to straight driving scenarios such as highways with simple road conditions. Urban roads and county roads have many sharp curves, and there are many vehicles and non-standard driving behaviors, which make current intelligent driving still unable to be used on these road sections. For example, when an intelligent vehicle is driving on a curve, if it encounters an oncoming vehicle entering the curve and possibly occupying the road of the intelligent vehicle, the existing technology often cannot timely identify and respond reasonably, which may cause a collision with the oncoming vehicle or even a rear-end accident due to the rear vehicle's failure to brake in time. SUMMARY

[0003] Therefore, the present application provides a vehicle avoidance method and related equipment, so that the vehicle can be automatically driven and avoid oncoming vehicles in a curve scenario.

[0004] In a first aspect, an embodiment of the present application provides a vehicle avoidance method, comprising:

[0005] When it is detected that there is an oncoming vehicle on a curved road section in front of a user vehicle, acquiring motion state information of the user vehicle, vehicle information of the oncoming vehicle, and road information of the curved road section; wherein the vehicle information includes vehicle type information and motion state information;

[0006] Based on the motion state information of the user vehicle, the vehicle information of the oncoming vehicle, and the road information of the curved road section, predicting a driving state of the oncoming vehicle when the oncoming vehicle meets the user vehicle; the driving state includes lane occupation driving and non-lane occupation driving;

[0007] According to the driving state, determining a corresponding avoidance driving strategy;

[0008] Controlling the user vehicle to execute the avoidance driving strategy.

[0009] In a possible implementation, the prediction of the driving state of the oncoming vehicle when the oncoming vehicle meets the user vehicle includes:

[0010] According to the motion state information of the oncoming vehicle, the vehicle type information, and the road information of the curved road section, predicting whether the oncoming vehicle will enter the lane where the user vehicle is located before meeting the user vehicle;

[0011] If it is predicted that the oncoming vehicle will not drive into the lane where the user vehicle is located before meeting the user vehicle, the driving state of the oncoming vehicle is determined as non-lane occupation driving.

[0012] In a possible implementation, the vehicle information of the oncoming vehicle further includes a vehicle length, a vehicle width, and a maximum turning angle, the vehicle type information of the oncoming vehicle is a preset large vehicle, and the road information includes a width of an oncoming lane.

[0013] The minimum turning width of the oncoming vehicle is determined according to the vehicle length of the oncoming vehicle, the vehicle width of the oncoming vehicle, and the maximum turning angle of the oncoming vehicle.

[0014] It is determined whether the minimum turning width is greater than or equal to the width of the oncoming lane.

[0015] If the minimum turning width is greater than or equal to the width of the oncoming lane, it is predicted that the oncoming vehicle will drive into the lane where the user vehicle is located before meeting the user vehicle.

[0016] In a possible implementation, the road information includes a road center line, the vehicle information of the oncoming vehicle includes relative position information between the oncoming vehicle and the user vehicle, the vehicle type information of the oncoming vehicle is a preset small vehicle, and the prediction of whether the oncoming vehicle will drive into the lane where the user vehicle is located before meeting the user vehicle includes:

[0017] According to the relative position information between the oncoming vehicle and the user vehicle, the speed of the oncoming vehicle, and the road information, a relative position state between the oncoming vehicle and the road center line is determined.

[0018] According to the relative position state, it is predicted whether the oncoming vehicle will drive into the lane where the user vehicle is located before meeting the user vehicle.

[0019] In a possible implementation, the motion state information includes a speed, and the prediction of whether the oncoming vehicle will drive into the lane where the user vehicle is located before meeting the user vehicle according to the relative position state includes:

[0020] It is determined whether the relative position state is a target state.

[0021] If the relative position state is the target state, it is predicted that the oncoming vehicle will drive into the lane where the user vehicle is located before meeting the user vehicle.

[0022] The target state includes that part of the oncoming vehicle has crossed the road center line, the entire vehicle body of the oncoming vehicle has crossed the road center line, and the speed direction of the oncoming vehicle intersects with the road center line.

[0023] In a possible implementation, if it is predicted that the oncoming vehicle will drive into the lane where the user vehicle is located before meeting, the method further includes:

[0024] predicting, according to the vehicle information of the oncoming vehicle, the motion state information of the user vehicle, and the road information, whether the oncoming vehicle will drive out of the lane where the user vehicle is located before meeting the user vehicle;

[0025] if it is predicted that the oncoming vehicle will drive out of the lane where the user vehicle is located before meeting the user vehicle, determining that the driving state of the oncoming vehicle is non-lane-occupying driving; otherwise, determining that the driving state of the oncoming vehicle is lane-occupying driving.

[0026] In a possible implementation, the motion state information of the oncoming vehicle includes the speed of the oncoming vehicle; the motion state information of the user vehicle includes the speed of the user vehicle; and the prediction of whether the oncoming vehicle will drive out of the lane where the user vehicle is located before meeting the user vehicle includes:

[0027] determining a first distance between the oncoming vehicle and the user vehicle based on the road information of the curved road section;

[0028] determining a first time length for the oncoming vehicle and the user vehicle to meet according to the speed of the oncoming vehicle, the speed of the user vehicle, and the first distance;

[0029] determining a second time length required for the oncoming vehicle to drive out of the lane where the user vehicle is located according to the road information and the speed of the oncoming vehicle;

[0030] determining whether the first time length is greater than the second time length;

[0031] if the first time length is greater than the second time length, predicting that the oncoming vehicle will drive out of the lane where the user vehicle is located before meeting the user vehicle.

[0032] In a possible implementation, the vehicle information of the oncoming vehicle includes the heading direction of the oncoming vehicle, the road information includes the width of the lane where the user vehicle is located, and the determination of the second time length required for the oncoming vehicle to drive out of the lane where the user vehicle is located according to the road information and the speed of the oncoming vehicle includes:

[0033] determining a first included angle between the oncoming vehicle and a lane where the user vehicle is located according to the head orientation of the oncoming vehicle;

[0034] decomposing a speed of the oncoming vehicle into a first component speed along a direction perpendicular to the lane where the user vehicle is located according to the first included angle;

[0035] determining a second time length required for the oncoming vehicle to drive off the lane where the user vehicle is located according to a width of the lane where the user vehicle is located and the first component speed.

[0036] In a possible implementation, the determining the corresponding avoidance driving strategy according to the driving state comprises:

[0037] if the driving state is lane occupation driving, determining the avoidance driving strategy as avoidance driving; and if the driving state is non-lane occupation driving, determining the avoidance driving strategy as non-avoidance driving.

[0038] In a possible implementation, the avoidance driving specifically comprises deceleration avoidance and parking avoidance, and the method further comprises:

[0039] calculating a first path length of the oncoming vehicle within the second time length according to the speed of the oncoming vehicle;

[0040] determining a second path length according to a difference between the first distance and the first path length;

[0041] calculating a first average speed according to the second path length and the second time length;

[0042] calculating a first deceleration according to the first average speed, a speed of the user vehicle and the second time length;

[0043] determining whether the first deceleration is less than or equal to a second deceleration; wherein the second deceleration is a maximum deceleration of the user vehicle when braking, which is obtained in advance;

[0044] if the first deceleration is less than or equal to the second deceleration, determining the avoidance driving strategy as the deceleration avoidance; otherwise, determining the avoidance driving strategy as the parking avoidance.

[0045] In a second aspect, an embodiment of the present application provides a vehicle avoidance device, comprising:

[0046] an obtaining module, configured to, when detecting that an oncoming vehicle exists on a curved road section in front of a user vehicle, obtain motion state information of the user vehicle, vehicle information of the oncoming vehicle and road information of the curved road section; wherein the vehicle information comprises vehicle type information and motion state information;

[0047] a prediction module for predicting a driving state of the oncoming vehicle when meeting the user vehicle based on the motion state information of the user vehicle, the vehicle information of the oncoming vehicle, and the road information of the curved road section; the driving state includes occupying lane driving and non-occupying lane driving;

[0048] a determination module, configured to determine a corresponding avoidance driving strategy according to the driving state;

[0049] An execution module is used to control the user vehicle to execute the avoidance driving strategy.

[0050] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0051] at least one processor; and

[0052] at least one memory in communication with the processor, wherein:

[0053] The memory stores program instructions that can be executed by the processor, and the processor can execute the method described in the first aspect by calling the program instructions.

[0054] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the method described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] Figure 1 A flow chart of a vehicle avoidance method provided by an embodiment of the present invention;

[0057] Figure 2 A schematic diagram of a curve meeting scenario provided by an embodiment of the present invention;

[0058] Figure 3 A schematic diagram of another curve meeting scenario provided by an embodiment of the present invention;

[0059] Figure 4 A schematic structural diagram of a vehicle avoidance device provided by an embodiment of the present invention;

[0060] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to better understand the technical solutions of the present application, the embodiments of the present application are described in detail below with reference to the drawings.

[0062] It should be clear that the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0063] The terms used in the embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0064] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0065] In order to avoid the problem of collision caused by the opposite vehicle occupying the lane of the ego vehicle when passing the curve, the embodiment of the present application provides a vehicle avoidance method, which realizes the avoidance of the opposite vehicle, and further enables the automatic driving to be applied in the curve scene. Figure 1 A flowchart of a vehicle avoidance method provided by the embodiment of the present application is shown in FIG. 1. As shown in FIG. 1, the method comprises the following steps. Figure 1

[0066] In step 101, when it is detected that there is an opposite vehicle in the curve road section in front of the user vehicle, the motion state information of the user vehicle, the vehicle information of the opposite vehicle and the road information of the curve road section are acquired. The vehicle information includes vehicle type information and motion state information

[0067] In the embodiments of the present application, the user vehicle is the vehicle driven by the target user. The opposite vehicle is a vehicle that travels from the opposite side of the user vehicle in the opposite direction of the user vehicle.

[0068] ​The presence of the oncoming vehicle can be detected by a camera or a sensor device such as a radar. The vehicle type information and the motion state information of the oncoming vehicle can be calculated based on multi-frame radar point cloud data or multi-frame image data when the presence of the oncoming vehicle is detected. The motion state information of the user vehicle can be detected by sensors of the user vehicle itself. The motion state information can include the speed, acceleration, and heading of the vehicle. The road information of the curved road section can be obtained from an electronic map. Specifically, the road information of the curved road section can include the road width and the radius of the curve.

[0069] Specifically, the length and width of the oncoming vehicle are determined based on image data collected by a camera or point cloud data collected by a radar. The vehicle type information of the oncoming vehicle is determined to be a preset small vehicle (e.g., a regular passenger car) or a preset large vehicle (e.g., a bus, a fire truck, etc.) according to the length and width of the oncoming vehicle. For example, when the length of the oncoming vehicle is detected to be less than or equal to 6 meters and the width is detected to be less than or equal to 2.2 meters, the vehicle type information of the oncoming vehicle is determined to be the preset small vehicle. When the length of the oncoming vehicle is detected to be greater than 6 meters or the width is detected to be greater than 2.2 meters, the vehicle type information of the oncoming vehicle is determined to be the preset large vehicle.

[0070] At step 102, the driving state of the oncoming vehicle when meeting the user vehicle is predicted based on the motion state information of the user vehicle, the vehicle information of the oncoming vehicle, and the road information of the curved road section. The driving state includes lane occupation and non-lane occupation.

[0071] The oncoming vehicle can be predicted to enter the lane of the user vehicle before meeting the user vehicle according to the motion state information, the vehicle type information, and the road information of the curved road section. The driving state of the oncoming vehicle when meeting the user vehicle is predicted according to the driving state of the oncoming vehicle before meeting the user vehicle. If the oncoming vehicle is predicted not to enter the lane of the user vehicle before meeting the user vehicle, the driving state of the oncoming vehicle is determined to be non-lane occupation. If the oncoming vehicle is predicted to enter the lane of the user vehicle before meeting the user vehicle, it is further determined whether the oncoming vehicle can return to the oncoming lane before meeting the user vehicle, and the driving state of the oncoming vehicle when meeting the user vehicle is determined.

[0072] Different determination methods can be used according to different vehicle type information when predicting whether the oncoming vehicle will enter the lane of the user vehicle before meeting the user vehicle. Specifically, when the vehicle type information of the oncoming vehicle is the preset large vehicle, the vehicle length, the vehicle width, and the maximum turning angle of the oncoming vehicle can be obtained when collecting the vehicle information of the oncoming vehicle. The vehicle length and the vehicle width can be directly obtained by sensors in the above steps.

[0073] For the maximum steering angle, different vehicle models have different maximum steering angles, which are often between 30 degrees and 40 degrees. Therefore, the maximum steering angles corresponding to different vehicle models can be pre-stored, and when it is necessary to calculate whether the user's vehicle is about to drive off the lane where the user's vehicle is before meeting the user's vehicle, the maximum steering angle corresponding to the preset large vehicle is determined from the pre-stored maximum steering angles corresponding to different vehicle models.

[0074] For road information, the width of the road can be collected by a sensor, and then the width of the opposite lane is obtained. Specifically, the curved road section can be divided into two lanes with the road center as the boundary, one of which is the lane where the user's vehicle is located. The other lane is the opposite lane. Half of the width of the road is determined as the width of the opposite lane. For example, it is detected that the width of the curved road section is 10 meters, and the curved road section is divided into two lanes with the road center as the boundary, so the width of the opposite lane is 10 / 2 = 5 meters.

[0075] Then, the minimum turning width of the opposite oncoming vehicle is determined according to the vehicle length of the opposite oncoming vehicle, the vehicle width of the opposite oncoming vehicle, and the maximum steering angle of the opposite oncoming vehicle. It is judged whether the minimum turning width is greater than or equal to the width of the opposite lane. If the minimum turning width is greater than or equal to the width of the opposite lane, it is predicted that the opposite oncoming vehicle will drive into the lane where the user's vehicle is located before meeting the user's vehicle. If the minimum turning width is less than the width of the opposite lane, it is predicted that the opposite oncoming vehicle will not drive into the lane where the user's vehicle is located before meeting the user's vehicle, and the driving state of the opposite oncoming vehicle can be directly determined as non-lane occupation driving.

[0076] In some embodiments, the minimum turning width of the opposite oncoming vehicle can be calculated by formula (1) and formula (2).

[0077] Formula (1): R = L / 2 (sin θ)

[0078] Formula (2): D = W + 2R (1-cos θ)

[0079] Wherein, L is the vehicle length of the opposite oncoming vehicle, θ is the maximum steering angle of the opposite oncoming vehicle, D is the minimum turning width, and W is the vehicle width of the opposite oncoming vehicle.

[0080] In some embodiments, the actual turning width of the oncoming vehicle is affected by weather factors, road surface factors, and vehicle factors, and there may be a situation of skidding, etc., which may cause the actual turning width of the oncoming vehicle to be greater than the calculated minimum turning width. Therefore, a distance safety factor can be set to constrain, and then determine whether the oncoming vehicle will enter the lane where the user vehicle is located on the curved road section. Specifically, when D≥K1xH2, it is determined that the oncoming vehicle will enter the lane where the user vehicle is located on the curved road section. When D

[0081] When the vehicle type information of the oncoming vehicle is a preset small vehicle, since the preset small vehicle has the characteristics of smaller volume, smaller inertia, and higher flexibility compared to the preset large vehicle. Therefore, when determining whether the oncoming vehicle will enter the lane where the user vehicle is located, a different determination method needs to be used than for the preset large vehicle. By determining whether the user vehicle is currently performing lane occupation driving or has a tendency to perform lane occupation driving, it is determined whether the oncoming vehicle will enter the lane where the user vehicle is located before meeting the user vehicle.

[0082] Specifically, the road center line of the curved road section can be obtained from the obtained road information of the curved road section. The relative position information between the oncoming vehicle and the user vehicle can be obtained when obtaining the vehicle information of the oncoming vehicle. Then, according to the relative position information between the oncoming vehicle and the user vehicle, the speed of the oncoming vehicle, and the road information, the relative position state between the oncoming vehicle and the road center line is determined. Then, according to the relative position state, it is predicted whether the oncoming vehicle will enter the lane where the user vehicle is located before meeting the user vehicle.

[0083] The relative position state is determined by judging whether the relative position state is a target state. If the relative position state is the target state, it is predicted that the oncoming vehicle will enter the lane where the user vehicle is located before meeting the user vehicle. The target state includes: part of the body of the oncoming vehicle has crossed the road center line, all of the body of the oncoming vehicle has crossed the road center line, and the speed direction of the oncoming vehicle intersects the road center line.

[0084] In the above target state, part of the body of the oncoming vehicle has crossed the road center line, and all of the body of the oncoming vehicle has crossed the road center line, which means that the oncoming vehicle is currently performing lane occupation driving. The speed direction of the oncoming vehicle intersects the road center line, which means that the oncoming vehicle is not currently entering the lane where the user vehicle is located, but according to the speed direction of the oncoming vehicle, it is predicted that the oncoming vehicle has the intention to enter the lane where the user vehicle is located. That is, there is a tendency to perform lane occupation driving.

[0085] In the above embodiment, for the case that the oncoming vehicle will not enter the lane where the user vehicle is before meeting the user vehicle, the driving state is determined as non-lane-occupying driving. For the case that the oncoming vehicle will enter the lane where the user vehicle is before meeting the user vehicle, it is further needed to determine whether the oncoming vehicle can drive back to the opposite lane from the lane where the user vehicle is before meeting.

[0086] Specifically, whether the oncoming vehicle will drive away from the lane where the user vehicle is before meeting the user vehicle is predicted according to the vehicle information of the oncoming vehicle, the motion state information of the user vehicle and the road information. If it is predicted that the oncoming vehicle will drive away from the lane where the user vehicle is before meeting the user vehicle, the driving state of the oncoming vehicle is determined as non-lane-occupying driving. Otherwise, the driving state of the oncoming vehicle is determined as lane-occupying driving.

[0087] In the prediction of whether the oncoming vehicle will drive away from the lane where the user vehicle is before meeting the user vehicle, the first distance between the oncoming vehicle and the user vehicle can be determined based on the road information of the curved road section and the relative position information between the oncoming vehicle and the user vehicle.

[0088] It is to be noted that the first distance is the actual distance between the oncoming vehicle and the user vehicle, including the arc length of the curve of the curved road section, and is not the straight-line distance between the oncoming vehicle and the user vehicle.

[0089] Then, the first time length for the oncoming vehicle and the user vehicle to meet is determined according to the speed of the oncoming vehicle, the speed of the user vehicle and the first distance. Then, the second time length required for the oncoming vehicle to drive away from the lane where the user vehicle is is determined according to the road information and the speed of the oncoming vehicle. It is determined whether the first time length is greater than the second time length. If the first time length is greater than the second time length, it is predicted that the oncoming vehicle will drive away from the lane where the user vehicle is before meeting the user vehicle.

[0090] In the above embodiment, whether the oncoming vehicle can drive away from the lane where the user vehicle is before meeting the user vehicle is determined by calculating the meeting time of the user vehicle and the oncoming vehicle and the time required for the oncoming vehicle to drive away from the lane where the user vehicle is. If yes, the driving state of the oncoming vehicle is determined as non-lane-occupying driving. If no, the driving state of the oncoming vehicle is determined as lane-occupying driving.

[0091] When calculating the second time required for an oncoming vehicle to leave the lane in which the user's vehicle is located, the speed of the user's vehicle can be decomposed, and the second time required can be determined based on the decomposed speed and the width of the lane in which the user's vehicle is located. Specifically, the head direction of the oncoming vehicle can be determined based on the vehicle information of the oncoming vehicle. Based on the head direction of the oncoming vehicle, a first angle between the oncoming vehicle and the lane in which the user's vehicle is located is determined. Then, based on the first angle, the speed of the oncoming vehicle is decomposed into a first component speed perpendicular to the direction of the lane in which the user's vehicle is located. Finally, based on the width of the lane in which the user's vehicle is located and the first component speed, the second time required for the oncoming vehicle to leave the lane in which the user's vehicle is located is determined.

[0092] Figure 2 A schematic diagram of a curve meeting scene is shown. Figure 2 , which includes a user vehicle 201 and an oncoming vehicle 202 occupying the lane. The width of the lane where the user vehicle is located is H1, and the width of the oncoming lane is H2. The first angle between the head direction of the oncoming vehicle and the lane where the user vehicle is located is α. The speed of the user vehicle is V1, and the speed of the oncoming vehicle is V2. The distance between the two vehicles is L1.

[0093] When the oncoming vehicle 202 is a preset small vehicle, the oncoming vehicle 202 is calculated to leave the lane where the user's vehicle 201 is located (i.e. Figure 2 The time required for the two vehicles to meet each other (the position of 203 in the figure) is: ((H1+c) / sinα) / V2). Among them, c is the minimum safe parallel distance when the two vehicles meet. The time required for the two vehicles to meet is: L1 / (V1+V2). Then when L1 / (V1+V2)≤K2×((H1+c) / sinα) / V2, it is determined that the oncoming vehicle cannot leave the lane where the user's vehicle is located before meeting. When L1 / (V1+V2)>K2×((H1+c) / sinα) / V2, it is determined that the oncoming vehicle can leave the lane where the user's vehicle is located before meeting. Among them, K2 is the time safety factor, which is a minimum guaranteed safety factor. K2 is a constant value. In some embodiments, the value range of K2 can be 1.1 to 1.4. The specific value of K2 can be obtained by manual calibration by professionals based on the user's vehicle.

[0094] If the oncoming vehicle is a preset large vehicle, the minimum turning width of the oncoming vehicle also needs to be considered. Figure 3 A schematic diagram of another curve meeting scene is shown. Figure 3 As shown in FIG, there are a user vehicle 301 and an oncoming vehicle 302, and the curve radius of the curved road section is R. The lane width of the user vehicle is H1, and the lane width of the oncoming lane is H2.

[0095] Oncoming vehicle 302 drives to Figure 3When the user vehicle 301 reaches position 303 shown in FIG, it completely returns to the oncoming lane from the user vehicle 301. User vehicle 301 determines that oncoming vehicle 302 is a pre-set large vehicle by detecting its length L and width W. The time required for oncoming vehicle 302 to leave the user vehicle 301's lane is: K2 × ((H1 + c) / sin α + D) / V2. The time between user vehicle 301 and oncoming vehicle 302 and their meeting time is L1 / (V1 + V2). Therefore, when L1 / (V1 + V2) ≤ K2 × ((H1 + c) / sin α + D) / V2, it is determined that oncoming vehicle 302 cannot leave the user vehicle 301's lane before meeting. When L1 / (V1 + V2) > K2 × ((H1 + c) / sin α + D) / V2, it is determined that oncoming vehicle 302 can leave the user vehicle 301's lane before meeting. Wherein, D is the minimum turning width of the oncoming vehicle 302 calculated in formula (2).

[0096] Step 103: Determine a corresponding avoidance driving strategy according to the driving state.

[0097] If the driving state is occupied lane driving, the avoidance driving strategy is determined to be avoidance driving. If the driving state is non-occupied lane driving, the avoidance driving strategy is determined to be non-avoidance driving.

[0098] Step 104: Control the user's vehicle to execute an avoidance driving strategy.

[0099] Evasive maneuvers include deceleration and parking. First, a determination is made as to whether the collision can be avoided by reducing the speed of the user's vehicle. If so, deceleration is performed. If not, parking is performed.

[0100] Specifically, the first path length traveled by the oncoming vehicle within the second time period is calculated based on the speed of the oncoming vehicle. The first path length is the length of the path traveled by the oncoming vehicle when it completely returns to the oncoming lane. The first path length L2 = V2 × t2. When the oncoming vehicle is a preset small vehicle, t2 = K2 × ((H1 + c) / sin α) / V2. When the oncoming vehicle is a preset large vehicle, t2 = K2 × ((H1 + c) / sin α + D) / V2. Afterwards, the second path length L3 is determined based on the difference between the first distance and the first path length. The second path length L2 is the first distance L1 minus the first path length L2. The second path length is the maximum path length that the user vehicle can travel within the second time period under the premise that the user vehicle does not collide with the oncoming vehicle.

[0101] Afterwards, a first average speed is calculated according to the second path length and the second time length: Va=L3 / t. The first average speed specifically refers to the maximum average speed of the user vehicle in the second time length on the premise that the two vehicles do not collide. Afterwards, a first deceleration is calculated according to the first average speed, the speed of the user vehicle, and the second time length. The first deceleration is the minimum deceleration to ensure that the two vehicles do not collide. That is, the user vehicle needs to perform braking (i.e., uniform deceleration motion) at least according to the first deceleration in the second path length to avoid collision between the two vehicles.

[0102] Specifically, the final speed of the user vehicle after left uniform deceleration motion in the second time length can be calculated according to the first average speed and the speed of the user vehicle: Vt=2Va-V1. Then, the first deceleration a1=(Vt-V1) / t is calculated based on the final speed Vt under uniform deceleration motion, the initial speed V1 under uniform deceleration motion, and the time length (i.e., the second time length) t under uniform deceleration motion.

[0103] The above calculation step obtains the minimum deceleration a1 to ensure that the two vehicles do not collide. Then, it is determined whether the first deceleration is less than or equal to the second deceleration a2. The second deceleration a2 is the maximum deceleration of the user vehicle when braking, which is obtained in advance. If a1≤a2, it is determined that the avoidance driving strategy is deceleration avoidance, and the user vehicle is controlled to perform deceleration driving according to the calculated first deceleration a1. If a1>a2, it means that the minimum deceleration required to avoid collision exceeds the deceleration limit of the user vehicle. At this time, the two vehicles cannot avoid collision by deceleration driving. Therefore, it is determined that the avoidance driving strategy is parking avoidance.

[0104] The above calculation process continues until the vehicles meet before the user vehicle meets the oncoming vehicle. For deceleration avoidance, the calculation is continuously adjusted to complete safe meeting, and the determination is ended after the meeting is completed.

[0105] For parking avoidance, the calculation is continuously performed until the meeting is completed, and then the driving is resumed. If it is determined during the period that the collision can be avoided by deceleration, the driving of the user vehicle is resumed until the safe meeting is completed.

[0106] In some embodiments, when avoiding the oncoming vehicle, the user vehicle can also give a prompt to the oncoming vehicle and the same-direction rear vehicle, thereby warning the oncoming vehicle and the rear vehicle and further reducing the risk of collision.

[0107] When performing deceleration avoidance, the user vehicle can be controlled to turn on the high beam twice to signal the oncoming vehicle, and reduce the speed through braking or kinetic energy recovery, and turn on the right turn signal and drive on the right side while driving at a reduced speed. During deceleration driving, the brake light, the turn signal, or the double flash light is used to signal the same-direction rear vehicle.

[0108] When the parking avoidance is performed, the same direction rear vehicle can be indicated by the brake light, and the user vehicle is stopped at a first length from the curved road section. The first length can be determined according to the length of the opposite vehicle. The longer the length of the opposite vehicle, the longer the first length can be set.

[0109] When the user vehicle and the opposite vehicle complete the meeting, and the subsequent opposite vehicle does not affect the normal driving of the user vehicle, the light prompting can be turned off to start driving forward.

[0110] The vehicle avoidance method provided by the embodiment of the present application does not require additional control hardware, and there is no obvious cost change. The vehicle avoidance method provided by the embodiment of the present application also has the advantages of simple control strategy, easy implementation, and effective avoidance of safety accidents caused by wrong turning on a curved road.

[0111] Corresponding to the above-mentioned vehicle avoidance method, the embodiment of the present application provides a vehicle avoidance device. Figure 4 A structural schematic diagram of a vehicle avoidance device provided by the embodiment of the present application is shown in FIG. 1. Figure 4 As shown in FIG. 1, the device includes an acquisition module 401, a prediction module 402, a determination module 403, and an execution module 404.

[0112] The acquisition module 401 is configured to acquire the motion state information of the user vehicle, the vehicle information of the opposite vehicle, and the road information of the curved road section when detecting that the opposite vehicle exists in the curved road section in front of the user vehicle. The vehicle information includes vehicle type information and motion state information.

[0113] The prediction module 402 is configured to predict the driving state of the opposite vehicle when the opposite vehicle meets the user vehicle based on the motion state information of the user vehicle, the vehicle information of the opposite vehicle, and the road information of the curved road section. The driving state includes lane occupation driving and non-lane occupation driving.

[0114] The determination module 403 is configured to determine the corresponding avoidance driving strategy according to the driving state.

[0115] The execution module 404 is configured to control the user vehicle to execute the avoidance driving strategy.

[0116] Figure 4 The vehicle avoidance device provided by the embodiment shown in FIG. 1 can be used to execute the method embodiment shown in FIG. 2. Figure 1 The technical solutions of the method embodiment shown in FIG. 2 can further refer to the related descriptions in the method embodiment for the implementation principles and technical effects.

[0117] Figure 5 A structural schematic diagram of an electronic device provided by the embodiment of the present application is shown in FIG. 3. Figure 5As shown, the electronic device can include at least one processor, and at least one memory connected with the processor in communication, wherein: the memory stores program instructions executable by the processor, and the processor calling the program instructions can execute the embodiments of the present specification Figures 1-3 The vehicle avoidance method provided by the embodiments.

[0118] As Figure 5 As shown, the electronic device is in the form of a general-purpose computing device. The components of the electronic device can include, but are not limited to, one or more processors 510, a communication interface 520, and a memory 530, a communication bus 540 connecting different system components including the memory 530, the communication interface 520, and the processor 510.

[0119] The communication bus 540 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0120] The electronic device typically includes a variety of computer system readable media. These media can be any available media that is accessible by the electronic device and includes both volatile and non-volatile media, removable and non-removable media.

[0121] The memory 530 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The electronic device can further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 530 can include at least one program product having a set (for example, at least one) of program modules that are configured to carry out the functions of the embodiments of the present specification.

[0122] The program / utility, having a set (at least one) of program modules, can be stored in the memory 530 by example, and not limitation, includes an operating system, one or more application programs, other program modules, and program data, each or some combination thereof, can include implementation of the network environment. The program modules are generally executed by the processor 510 to perform the functions and / or methods of the embodiments described in the specification.

[0123] The processor 510 performs various function applications and data processing by running the program stored in the memory 530, for example, to implement the embodiments of the specification Figures 1-3 The vehicle avoidance method provided by the embodiments shown.

[0124] The embodiments of the specification provide a computer program product, the computer program product includes a computer program, when the computer program is executed by the processor, the computer program implements the execution of the embodiments of the specification Figures 1-3 The vehicle avoidance method provided by the embodiments shown.

[0125] The embodiments of the specification provide a computer readable storage medium, the computer readable storage medium stores computer instructions, the computer instructions make the computer execute the embodiments of the specification Figures 1-3 The vehicle avoidance method provided by the embodiments shown.

[0126] The computer readable storage medium described above can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of the computer readable storage medium include: electrical connection having one or more conductive wires, portable computer diskette, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus.

[0127] The above described embodiments of the present specification have been described. Other embodiments are within the scope of the following claims. In some cases, the acts or steps recited in the claims can be performed in a different order than those described in the embodiments, and still achieve desirable results. Also, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0128] In the description of the present specification, the description using the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the particular feature, structure, material or characteristic being described is included in at least one embodiment or example of the present specification. The illustrative appearance of the above terms in various places in the present specification are not necessarily referred to the same embodiment or example. Also, the particular feature, structure, material or characteristic being described can be combined in any suitable manner in one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

[0129] In addition, the terms "first", "second" are only for descriptive purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present specification, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0130] Any process or method descriptions or descriptions of processes or methods described in flow diagrams or otherwise herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions (or steps) or portions of a larger function or step, and that the various embodiments of the preferred implementations of the present specification can include additional or fewer steps or codes, and that the various embodiments of the preferred implementations of the present specification can utilize either the same piece of code performing multiple functions or multiple pieces of code performing one function each, as should be apparent to those skilled in the art.

[0131] Depending on the context, the word "if' can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting", as the context suggests. Similarly, the phrase "if determined" or "if detecting (a stated condition or event)" can be interpreted to mean "when determined" or "in response to determining" or "when detecting (a stated condition or event)" or "in response to detecting (a stated condition or event)", depending on the context.

[0132] It should be noted that the devices involved in the embodiments of the present specification can include, but are not limited to, a personal computer (PC), a personal digital assistant (PDA), a wireless handheld device, a tablet computer, a mobile phone, an MP3 display, an MP4 display, and the like.

[0133] In several embodiments provided in the present specification, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, another division mode can be adopted. For example, a plurality of units or components can be combined or integrated into another system, or some features can be omitted or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0134] In addition, each functional unit in each embodiment of the present specification can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of hardware plus software functional units.

[0135] The integrated unit realized in the form of software functional units can be stored in a computer readable storage medium. The software functional units stored in the storage medium include a plurality of instructions for causing a computer device (which can be a personal computer, a connector, or a network device, etc.) or a processor to execute part of the steps of the method described in each embodiment of the present specification. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0136] The above only describes the preferred embodiments of the present specification and does not limit the present specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the protection scope of the present specification.

[0137] The same or similar parts between various embodiments in the specification can be referred to each other. Especially, for the device embodiments and the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

Claims

1. A method for avoiding vehicles on a curve, characterized in that: include: When detecting that an oncoming vehicle exists on a curved road ahead of the user's vehicle, obtaining motion state information of the user's vehicle, vehicle information of the oncoming vehicle, and road information of the curved road; wherein the vehicle information includes vehicle type information and motion state information; Based on the motion state information of the user vehicle, the vehicle information of the oncoming vehicle, and the road information of the curved road section, predict the driving state of the oncoming vehicle when meeting the user vehicle; the driving state includes occupying lane driving and non-occupying lane driving; determining a corresponding avoidance driving strategy according to the driving state; Control the user vehicle to execute the avoidance driving strategy.

2. The method according to claim 1, characterized in that The predicting of the driving state of the oncoming vehicle when meeting the user vehicle includes: Predicting, based on the motion state information of the oncoming vehicle, the vehicle type information, and the road information of the curved road section, whether the oncoming vehicle will enter the lane where the user vehicle is located before meeting the user vehicle; If it is predicted that the oncoming vehicle will not drive into the lane where the user vehicle is located before meeting, the driving state of the oncoming vehicle is determined to be non-lane driving.

3. The method according to claim 2, characterized in that The oncoming vehicle information also includes vehicle length, vehicle width, and maximum steering angle, and the vehicle type information of the oncoming vehicle is preset to be a large vehicle; the road information includes the width of the oncoming lane; and the prediction of whether the oncoming vehicle will enter the lane where the user vehicle is located before meeting the user vehicle includes: determining a minimum turning width of the oncoming vehicle according to the vehicle length of the oncoming vehicle, the vehicle width of the oncoming vehicle, and the maximum steering angle of the oncoming vehicle; Determining whether the minimum turning width is greater than or equal to the width of the opposite lane; If the minimum turning width is greater than or equal to the width of the oncoming lane, it is predicted that the oncoming vehicle will enter the lane where the user vehicle is located before meeting the user vehicle.

4. The method according to claim 2, characterized in that The road information includes a road centerline, the oncoming vehicle information includes relative position information between the oncoming vehicle and the user's vehicle, the oncoming vehicle model information is a preset small vehicle, and the prediction of whether the oncoming vehicle will enter the lane where the user's vehicle is located before meeting the user's vehicle includes: determining a relative position state between the oncoming vehicle and the center line of the road based on the relative position information between the oncoming vehicle and the user vehicle, the speed of the oncoming vehicle, and the road information; It is predicted based on the relative position state whether the oncoming vehicle will enter the lane where the user vehicle is located before meeting the user vehicle.

5. The method according to claim 4, characterized in that The motion state information includes speed; and predicting, based on the relative position state, whether the oncoming vehicle will enter the lane where the user vehicle is located before meeting the user vehicle, includes: Determining whether the relative position state is a target state; If the relative position state is the target state, it is predicted that the oncoming vehicle will enter the lane where the user vehicle is located before meeting the user vehicle; The target state includes: a portion of the oncoming vehicle has crossed the road center line, the entire oncoming vehicle has crossed the road center line, and the speed direction of the oncoming vehicle intersects the road center line.

6. The method according to claim 2, characterized in that If it is predicted that the oncoming vehicle will enter the lane where the user vehicle is located before meeting the oncoming vehicle, the method further includes: Predicting, based on the vehicle information of the oncoming vehicle, the motion state information of the user vehicle, and the road information, whether the oncoming vehicle will leave the lane where the user vehicle is located before meeting the user vehicle; If it is predicted that the oncoming vehicle will leave the lane where the user vehicle is located before meeting the user vehicle, the driving state of the oncoming vehicle is determined to be non-lane driving; otherwise, the driving state of the oncoming vehicle is determined to be occupied lane driving.

7. The method according to claim 6, characterized in that The motion state information of the oncoming vehicle includes the speed of the oncoming vehicle; the motion state information of the user vehicle includes the speed of the user vehicle; and the predicting whether the oncoming vehicle will leave the lane where the user vehicle is located before meeting the user vehicle includes: determining a first distance between the oncoming vehicle and the user vehicle based on the road information of the curved road section; Determining a first time interval between the oncoming vehicle and the user vehicle according to the speed of the oncoming vehicle, the speed of the user vehicle, and the first distance; Determining a second time required for the oncoming vehicle to leave the lane where the user vehicle is located based on the road information and the speed of the oncoming vehicle; Determining whether the first duration is greater than the second duration; If the first time duration is greater than the second time duration, it is predicted that the oncoming vehicle will leave the lane where the user vehicle is located before meeting the user vehicle.

8. The method according to claim 7, characterized in that The vehicle information of the oncoming vehicle includes a heading of the oncoming vehicle, the road information includes a width of a lane in which the user vehicle is located, and determining, based on the road information and the speed of the oncoming vehicle, a second time required for the oncoming vehicle to leave the lane in which the user vehicle is located, includes: Determining a first angle between the oncoming vehicle and the lane where the user vehicle is located according to the front direction of the oncoming vehicle; Decomposing the speed of the oncoming vehicle into a first component speed perpendicular to the lane where the user vehicle is located according to the first angle; A second time duration required for the oncoming vehicle to leave the lane where the user vehicle is located is determined according to the width of the lane where the user vehicle is located and the first component speed.

9. The method according to claim 8, characterized in that The determining of a corresponding avoidance driving strategy according to the driving state includes: If the driving state is occupying lane driving, the avoidance driving strategy is determined to be avoidance driving; if the driving state is not occupying lane driving, the avoidance driving strategy is determined to be non-avoidance driving.

10. The method according to claim 9, characterized in that The avoidance driving specifically includes deceleration avoidance and parking avoidance, and the method further includes: Calculating a first path length traveled by the oncoming vehicle within the second time period according to the speed of the oncoming vehicle; determining a second path length based on a difference between the first distance and the first path length; Calculate a first average speed according to the second path length and the second duration; Calculating a first deceleration according to the first average speed, the speed of the user vehicle, and the second duration; Determining whether the first deceleration is less than or equal to a second deceleration; wherein the second deceleration is a pre-acquired maximum deceleration of the user vehicle during braking; If the first deceleration is less than or equal to the second deceleration, the avoidance driving strategy is determined to be the deceleration avoidance strategy; otherwise, the avoidance driving strategy is determined to be the parking avoidance strategy.

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