A method for identifying and responding to an interference source vehicle

Abstract

This invention provides a method for identifying and responding to interfering vehicles, belonging to the field of vehicle networking technology. The method includes: identifying whether a target vehicle is an interfering vehicle; if identified as an interfering vehicle, generating a comprehensive response strategy; executing the comprehensive response strategy, and prompting the driver with the reason for executing the strategy through a human-machine interface. The comprehensive response strategy includes at least one of the following: a vehicle control command to close the vehicle windows, a path planning command to change lanes in a direction away from the vehicle, and a speed control command to accelerate and overtake. This invention can automatically identify special operation vehicles on the road (such as water trucks, road sweepers, etc.) and proactively take countermeasures such as closing windows and changing lanes, effectively preventing water mist, dust, or odors from entering the vehicle, improving driving comfort, and enhancing system transparency by prompting the reason, thus improving the user experience.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, specifically to a vehicle environment perception and active control method, and more particularly to a method and system for identifying and responding to special road vehicles. Background Technology

[0002] With the development of intelligent driving technology, vehicles' environmental perception and active control capabilities are constantly improving. Existing technologies mainly focus on safety-related control functions such as collision avoidance, lane keeping, and adaptive cruise control, but pay less attention to non-collision-related issues such as ride comfort.

[0003] While driving on the road, one often encounters specialized vehicles such as water sprinkler trucks, road sweepers, and garbage trucks. These vehicles produce water mist, dust, and odors during operation, which can cause discomfort to passengers in vehicles behind or to the side. Currently, drivers typically need to manually close windows or actively change lanes to avoid these hazards, which not only increases the driving burden but may also lead to discomfort in emergency situations due to delayed reaction time. Summary of the Invention

[0004] In view of the technical defects and drawbacks existing in the prior art, embodiments of the present invention provide a method for identifying and responding to interference source vehicles to overcome the above problems or at least partially solve the above problems, the specific solution of which is as follows;

[0005] A method for identifying and responding to interference source vehicles, characterized by comprising the following steps:

[0006] The vehicle-mounted sensing system identifies target vehicles in front of or to the side of the vehicle as interference sources of a preset type.

[0007] In response to the identification of the interference source vehicle, a comprehensive response strategy is generated, which includes at least a vehicle body control command to control the closing of the vehicle's windows.

[0008] The comprehensive response strategy is executed, and the driver is informed of the reason for executing the strategy through the human-machine interface.

[0009] The interference source vehicle is not limited to water trucks, road sweepers, etc., but also applies to all vehicle targets that may cause discomfort to the occupants, such as garbage trucks and dump trucks.

[0010] In some embodiments, identifying the interference source vehicle includes:

[0011] The target vehicle's characteristic information is obtained by using at least one of the following sensors: a visual sensor, a lidar, or a millimeter-wave radar.

[0012] The feature information is matched with a pre-stored feature template of the interference source vehicle to determine whether the target vehicle is an interference source vehicle.

[0013] In some embodiments, the generation of a comprehensive response strategy includes:

[0014] Determine whether the vehicle has the conditions to safely change lanes in a direction away from the interference source vehicle;

[0015] If it is determined that the conditions for a safe lane change are met, the generated comprehensive response strategy also includes a path planning command to control the vehicle to change lanes in a direction away from the interference source and a speed control command to control the vehicle to accelerate and overtake the interference source vehicle.

[0016] In some embodiments, determining whether safe lane changing conditions are met includes at least one of the following determinations:

[0017] Determine if there is safe space to change lanes in the target lane;

[0018] Determine whether the lane markings between the vehicle's current lane and the target lane allow for lane changing;

[0019] Determine whether the operating status of other vehicles around your vehicle meets the conditions for a safe lane change.

[0020] In some embodiments, if it is determined that the conditions for a safe lane change are met, the execution of the comprehensive response strategy is carried out automatically without driver confirmation.

[0021] In some embodiments, if it is determined that the conditions for a safe lane change are not met, the generated comprehensive response strategy includes: generating an acceleration overtaking request instruction;

[0022] The comprehensive response strategy includes: presenting the acceleration overtaking request command to the driver through a human-machine interface, obtaining the driver's confirmation response to the request, and in response to obtaining the confirmation response, controlling the vehicle to accelerate and overtake the interfering source vehicle.

[0023] In some embodiments, after identifying a target vehicle in front of or to the side of the vehicle as a preset type of interference source vehicle through the vehicle-mounted perception system and before generating a comprehensive response strategy, the method further includes:

[0024] Based on the identification results of the interference source vehicle, assess its impact level on the driver and passengers of the vehicle.

[0025] The comprehensive response strategy is generated based on the impact level.

[0026] In some embodiments, the assessment of the impact level includes:

[0027] Based on the relative distance, relative speed, current wind direction, and operating status parameters of the interfering vehicle and the interfering vehicle, the influence level value is calculated through a preset influence level calculation model.

[0028] The impact level calculation model is as follows:

[0029] Impact level value = α * (1 / relative distance) + β * relative speed + γ * wind direction influence coefficient + δ * working status influence coefficient;

[0030] Wherein, α, β, γ, and δ are preset weighting coefficients, the wind direction influence coefficient is determined based on the angle between the current wind direction and the vehicle's driving direction, and the working state influence coefficient is determined based on the working state parameters of the interference source vehicle.

[0031] The calculated impact level value is compared with the preset impact level threshold to determine the final impact level.

[0032] In some embodiments, after implementing the comprehensive response strategy and prompting the driver with the reason for implementing the strategy through a human-machine interface, the method further includes:

[0033] Detect the relative positional relationship between the vehicle and the interfering source vehicle;

[0034] In response to detecting that the vehicle has overtaken the interfering vehicle and the relative distance between the vehicle and the interfering vehicle has reached a preset safe distance, the vehicle's window status is restored to the state before the comprehensive response strategy was executed.

[0035] In some embodiments, the prompts given to the driver include: information about the type of the interfering vehicle, and information about the control actions included in the comprehensive response strategy.

[0036] The present invention has the following beneficial effects:

[0037] This invention is the first to systematically solve the non-collision comfort and safety issues associated with special-purpose vehicles in the field of intelligent driving. The solution organically combines perception, decision-making, execution, and human-machine interaction, achieving a fully automated and proactive optimized driving experience. By automatically generating and executing strategies such as closing windows, it effectively prevents water vapor, dust, or odors from entering the vehicle, ensuring the comfort and health of passengers. Simultaneously, voice and pop-up prompts enhance system transparency and user trust, avoiding driver confusion or tension caused by automated system operation, thus achieving a unity of intelligence and humanization. Attached Figure Description

[0038] Figure 1 A schematic flowchart illustrating a method for identifying and responding to interference source vehicles, provided for an embodiment of the invention;

[0039] Figure 2 A schematic diagram of the process for identifying vehicles that are sources of interference, provided for an embodiment of the invention;

[0040] Figure 3 A flowchart illustrating the generation of a comprehensive response strategy provided for embodiments of the invention;

[0041] Figure 4 A schematic diagram of the vehicle state restoration process provided for an embodiment of the invention;

[0042] Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0043] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0044] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0045] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0046] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0047] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and the invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly so defined herein.

[0048] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information all comply with relevant laws and regulations and do not violate public order and good morals. The use of user data in this technical solution follows relevant national laws and regulations (e.g., the "Information Security Technology - Personal Information Security Specification"). For example: appropriate measures are taken for personal information access control; restrictions are imposed on the display of personal information; the purpose of using personal information does not exceed the scope of direct or reasonable association; and explicit identity targeting is eliminated when using personal information to avoid precisely locating a specific individual.

[0049] To address at least one of the technical problems existing in the aforementioned related technologies, the present invention provides a method for identifying and responding to interference source vehicles. Figure 1 This is a flowchart illustrating a method for identifying and responding to interference source vehicles according to an embodiment of the present invention, including the following steps:

[0050] S1. Identify target vehicles in front of or to the side of the vehicle as preset type of interference source vehicles through the vehicle-mounted perception system.

[0051] S2. In response to the identification of the interference source vehicle, generate a comprehensive response strategy, the comprehensive response strategy including at least a vehicle body control command to control the closing of the vehicle windows;

[0052] S3. Execute the comprehensive response strategy and prompt the driver with the reason for executing the strategy through the human-machine interface.

[0053] The interference source vehicle is not limited to water trucks, road sweepers, etc., but also applies to all vehicle targets that may cause discomfort to the occupants, such as garbage trucks and dump trucks.

[0054] This invention is the first to systematically solve the non-collision comfort and safety issues associated with special-purpose vehicles in the field of intelligent driving. The solution organically combines perception, decision-making, execution, and human-machine interaction, achieving a fully automated and proactive optimized driving experience. By automatically generating and executing strategies such as closing windows, it effectively prevents water vapor, dust, or odors from entering the vehicle, ensuring the comfort and health of passengers. Simultaneously, voice and pop-up prompts enhance system transparency and user trust, avoiding driver confusion or tension caused by automated system operation, thus achieving a unity of intelligence and humanization.

[0055] See Figure 2 As shown, in some embodiments, identifying the interference source vehicle in step S1 includes:

[0056] S11. Obtain feature information of the target vehicle through at least one of a visual sensor, lidar, or millimeter-wave radar.

[0057] S12. Match the feature information with the pre-stored feature template of the interference source vehicle to determine whether the target vehicle is an interference source vehicle.

[0058] The above embodiments specifically define the identification of interfering vehicle sources, clarifying that feature information is acquired through at least one sensor and matched with pre-stored feature templates. This transforms the abstract concept of "identification" into a concrete and feasible technical implementation path, significantly improving the feasibility and creativity of the technical solution. Specifically: by limiting the sensor type (vision, LiDAR, millimeter-wave radar) and the identification method (feature matching), the reliability and accuracy of the identification process are ensured. The multi-sensor scheme provides redundancy backup, and it can still work when a single sensor fails. The feature template matching method draws on mature pattern recognition technology, making the identification of interfering vehicle sources no longer a black box operation, but based on interpretable feature comparison.

[0059] See Figure 3 As shown, in some embodiments, in step S2, the generation of a comprehensive response strategy includes:

[0060] S21. Determine whether the vehicle has the conditions to safely change lanes in a direction away from the interference source vehicle;

[0061] S22. If it is determined that the conditions for a safe lane change are met, the generated comprehensive response strategy further includes a path planning command to control the vehicle to change lanes in a direction away from the interference source and a speed control command to control the vehicle to accelerate and overtake the interference source vehicle.

[0062] The above embodiments are further limited to situations where safe lane-changing conditions exist. The strategy includes "automatic lane-changing to move away + automatic window closing + automatic acceleration to overtake," providing an optimal avoidance path and achieving multiple safety and comfort guarantees. Specifically, by automatically changing lanes to a lane away from the interfering vehicle, the adverse effects are minimized spatially, providing a higher level of comfort than simply closing the windows. Simultaneously, the coordinated control of "lane-changing" and "acceleration to overtake" ensures traffic efficiency and avoids the vehicle being continuously affected by potential interference while driving alongside the interfering vehicle for an extended period. When conditions permit, this solution automatically completes the most effective avoidance maneuvers, greatly enhancing the proactive service capabilities of the intelligent driving system in complex urban road environments.

[0063] In some embodiments, determining whether safe lane changing conditions are met in step S21 includes at least one of the following determinations:

[0064] Determine if there is safe space to change lanes in the target lane;

[0065] Determine whether the lane markings between the vehicle's current lane and the target lane allow for lane changing;

[0066] Determine whether the operating status of other vehicles around your vehicle meets the conditions for a safe lane change.

[0067] The above embodiments specify the criteria for determining lane-changing conditions, clarifying the need to assess the target lane space, lane line type, and surrounding vehicle status, thereby improving the safety and reliability of automatic lane-changing decisions. Specifically, by introducing multi-dimensional and specific judgment criteria, the system no longer simply "can" change lanes, but rather makes "safe" lane changes based on comprehensive environmental perception. This effectively prevents the system from forcibly changing lanes in dangerous situations such as insufficient space, violation of traffic regulations (such as changing lanes over solid lines), or collision risks. Safety is built into the decision-making logic with safety as the highest priority, significantly reducing the secondary safety risks that may be caused by the intelligent driving system when automatically avoiding interference sources, making the entire avoidance action both intelligent and reliable.

[0068] In some embodiments, the characteristic is that, in step S22, if it is determined that the conditions for a safe lane change are met, the execution of the comprehensive response strategy is performed automatically without driver confirmation.

[0069] The above embodiments define that when safe lane-changing conditions are met, the strategy is executed automatically without driver confirmation. Under the premise of ensuring safety, the system's response speed and user experience are maximized. By eliminating unnecessary driver confirmation, the system can seize fleeting safe lane-changing opportunities and immediately execute the optimal avoidance strategy.

[0070] In some embodiments, if it is determined in step S2 that there are no safe lane change conditions, the generated comprehensive response strategy includes: generating an acceleration overtaking request instruction; the execution of the comprehensive response strategy in step S3 includes: presenting the acceleration overtaking request instruction to the driver through a human-machine interface, obtaining the driver's confirmation response to the request, and in response to obtaining the confirmation response, controlling the vehicle to accelerate and overtake the interfering source vehicle.

[0071] The above embodiments limit the strategy to "generating an acceleration overtaking request and requiring driver confirmation" when safe lane-changing conditions are not met. In constrained scenarios, this balances automation and driver autonomy, ensuring the safety and harmony of human-machine co-driving. When lane-changing to move away is not possible, acceleration overtaking is the only option, but acceleration itself carries risks. By entrusting the acceleration decision-making power to the driver, the system respects the driver's final decision-making authority in critical decisions, complying with functional safety principles. This provides clear optimization suggestions (closing windows + accelerating), avoiding reckless automatic acceleration, and allows the driver to perceive the risks and prepare accordingly through the confirmation request, achieving a perfect combination of system assistance and driver supervision, enhancing the system's credibility and acceptability.

[0072] In some embodiments, after step S1 and before step S2, the method further includes:

[0073] Based on the identification results of the interfering vehicle, the level of its impact on the driver and passengers of the vehicle is assessed. The level of impact is used to characterize the degree of influence of the interfering vehicle on the driver's and passengers' comfort or safety.

[0074] In step S2, the comprehensive response strategy is generated based on the impact level.

[0075] The above embodiments add the step of "assessing the impact level based on the identification results and determining the strategy based on the impact level," achieving a more refined and adaptive response strategy. Specifically, by introducing an impact level assessment mechanism, the system no longer executes a fixed strategy in a "one-size-fits-all" manner, but dynamically adjusts the response intensity according to the actual threat level of the interfering vehicle. For example, for interfering sources that are far away and have a small impact, only slight adjustments or a warning may be needed; for close-range, high-impact situations, a more aggressive avoidance strategy is implemented. This tiered response mechanism avoids overreaction (such as automatically changing lanes when unnecessary) while ensuring adequate protection in high-risk scenarios, improving the system's intelligence level and resource utilization efficiency, enabling the intelligent driving system to more accurately match actual environmental needs and provide a more humanized driving experience.

[0076] In some embodiments, the impact level includes at least a first level and a second level;

[0077] The step of determining the comprehensive response strategy based on the impact level includes:

[0078] When the impact level is the first level, the generated comprehensive response strategy only includes the vehicle body control command to control the closing of the vehicle windows;

[0079] When the impact level is the second level, the generated comprehensive response strategy simultaneously includes the vehicle body control command, as well as the path planning command to control the vehicle to change lanes in the opposite direction and the speed control command to control the vehicle to accelerate and overtake.

[0080] The second level represents a higher degree of influence than the first level.

[0081] The above embodiments, by introducing a hierarchical mechanism (Level 1, Level 2), transform the abstract concept of "impact level" into a concrete and operable decision-making logic, thereby achieving precise response strategies and optimized resource allocation. Specifically, the system can automatically match different levels of response plans based on the severity of the interference source's threat: for low threats (Level 1), only the minimum necessary measure of closing windows is taken, avoiding overreaction (such as unnecessary lane changes), reducing system load and interference with traffic flow; for high threats (Level 2), a comprehensive avoidance strategy including lane changes and acceleration is activated to ensure the highest level of protection.

[0082] In some embodiments, the assessment of the impact level includes:

[0083] Based on the relative distance, relative speed, current wind direction, and operating status parameters of the interfering vehicle and the interfering vehicle, the influence level value is calculated through a preset influence level calculation model.

[0084] The impact level calculation model is as follows:

[0085] Impact level value = α * (1 / relative distance) + β * relative speed + γ * wind direction influence coefficient + δ * working status influence coefficient;

[0086] Wherein, α, β, γ, and δ are preset weighting coefficients, the wind direction influence coefficient is determined based on the angle between the current wind direction and the vehicle's driving direction, and the working state influence coefficient is determined based on the working state parameters of the interference source vehicle.

[0087] The calculated impact level value is compared with the preset impact level threshold to determine the final impact level.

[0088] The above embodiments specify the impact level assessment, limiting the calculation to relative distance, relative speed, wind direction, and working status parameters. This moves the impact level assessment from the conceptual level to a quantifiable and operable algorithm level, greatly improving the practicality and reliability of the technical solution. By introducing these specific and measurable physical parameters, the system can establish an objective and scientific assessment model, avoiding the uncertainty of subjective judgment.

[0089] See Figure 4As shown, in some embodiments, after step S3, the method further includes:

[0090] Detect the relative positional relationship between the vehicle and the interfering source vehicle;

[0091] In response to detecting that the vehicle has overtaken the interfering vehicle and the relative distance between the vehicle and the interfering vehicle has reached a preset safe distance, the vehicle's window status is restored to the state before the comprehensive response strategy was executed.

[0092] In some embodiments, the relative positional relationship between the vehicle and the interfering source vehicle is detected. In response to detecting that the vehicle has overtaken the interfering source vehicle and the relative distance between them has reached a preset safe distance, the vehicle's window state is restored to the state before the comprehensive response strategy was implemented. Specifically, this includes...

[0093] S4. Based on the data fed back by the environmental perception sensor, calculate the relative longitudinal distance and relative lateral distance between the vehicle and the interference source vehicle in real time;

[0094] S5. When the relative longitudinal distance is continuously positive and the duration exceeds the first preset threshold, and the relative lateral distance indicates that the two vehicles are not in the same lane, it is determined that the overtaking has been completed.

[0095] S6. After determining that the overtaking has been completed, when the relative longitudinal distance is greater than or equal to a preset safety distance and the traffic flow in the lane where the vehicle is currently located is detected to be in a stable state, a window restoration command is generated; wherein, the preset safety distance is dynamically calculated based on the current driving speed of the vehicle.

[0096] S7. Execute the window restoration command to control the window lifting motor to restore the window to the opening state before the comprehensive response strategy was initiated.

[0097] The above embodiment adds a feature of "detecting the relative position after overtaking and automatically restoring the window state after reaching a safe distance," achieving closed-loop control and automatic state reset for the avoidance action, thus improving system integrity and user experience consistency. By adding a recovery mechanism, the system is no longer a semi-automatic operation that "does nothing," but rather a fully automated process from identification to avoidance to recovery. Automatically restoring the window after safely overtaking the interference source avoids the inconvenience of the driver forgetting to restore it or having to manually operate it, ensuring the driving environment remains optimal. Simultaneously, the triggering conditions based on relative position and safe distance ensure accurate timing of the recovery action, preventing premature restoration (while the interference source's influence remains) or delayed restoration (when the influence has disappeared but the window remains closed).

[0098] In some embodiments, the content prompted to the driver in step S3 includes: information about the type of the interfering vehicle, and information about the control actions included in the comprehensive response strategy.

[0099] The above embodiments specifically define the content of the prompts, clearly including information on the type of vehicle causing the interference and the policy action information. This concretizes abstract human-machine interaction prompts into understandable and valuable information, improving system transparency and user trust. Specifically, by clearly informing the driver "what kind of vehicle is ahead" (type information) and "what the system is doing" (action information), the "black box" feeling of the intelligent system's automatic operation is eliminated, allowing the driver to quickly understand the intent and rationale of the system's behavior. For example, the prompt "Road washing vehicle ahead, has automatically closed its windows and changed lanes" is more acceptable than the simple "Executing a policy." This specific and transparent prompting method reduces driver confusion and anxiety, enhances their trust and acceptance of the intelligent driving system, lays the foundation for smooth collaboration in human-machine co-driving scenarios, and is a key link in improving the user experience of intelligent driving systems.

[0100] Based on the same inventive concept, embodiments of the present invention also provide an electronic device. Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Figure 5 As shown, an embodiment of the present invention provides an electronic device including: one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, which, when executed by the one or more processors, enable the one or more processors to implement the identification and response method for any of the interference source vehicles described in the above embodiments; the one or more I / O interfaces 103 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0101] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read / write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus).

[0102] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the computing device.

[0103] In some embodiments, the one or more processors 101 include a field-programmable gate array.

[0104] This invention also provides a computer-readable medium. The computer-readable medium stores a computer program, which, when executed by a processor, implements the identification and response methods for any of the interference source vehicles described in the above embodiments. The computer-readable storage medium can be volatile or non-volatile.

[0105] This invention also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code. When the computer-readable code is run in the processor of an electronic device, the processor in the electronic device executes any of the above-described methods for identifying and responding to interference source vehicles.

[0106] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0107] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0108] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0109] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0110] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0111] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0112] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0113] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0114] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0115] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A method for identifying and responding to interference source vehicles, characterized in that, Includes the following steps: The vehicle-mounted sensing system identifies target vehicles in front of or to the side of the vehicle as interference sources of a preset type. In response to the identification of the interference source vehicle, a comprehensive response strategy is generated, which includes at least a vehicle body control command to control the closing of the vehicle's windows. The comprehensive response strategy is executed, and the driver is informed of the reason for executing the strategy through the human-machine interface.

2. The method according to claim 1, characterized in that, The identification of the interference source vehicle includes: The target vehicle's characteristic information is obtained by using at least one of the following sensors: a visual sensor, a lidar, or a millimeter-wave radar. The feature information is matched with a pre-stored feature template of the interference source vehicle to determine whether the target vehicle is an interference source vehicle.

3. The method according to claim 1, characterized in that, The comprehensive response strategy includes: Determine whether the vehicle has the conditions to safely change lanes in a direction away from the interference source vehicle; If it is determined that the conditions for a safe lane change are met, the generated comprehensive response strategy also includes a path planning command to control the vehicle to change lanes in a direction away from the interference source and a speed control command to control the vehicle to accelerate and overtake the interference source vehicle.

4. The method according to claim 3, characterized in that, Determining whether conditions are suitable for a safe lane change includes at least one of the following criteria: Determine if there is safe space to change lanes in the target lane; Determine whether the lane markings between the vehicle's current lane and the target lane allow for lane changing; Determine whether the operating status of other vehicles around your vehicle meets the conditions for a safe lane change.

5. The method according to claim 3, characterized in that, If it is determined that the conditions for a safe lane change are met, the comprehensive response strategy described above will be executed automatically without driver confirmation.

6. The method according to claim 3, characterized in that, If it is determined that the conditions for a safe lane change are not met, the generated comprehensive response strategy includes: generating an acceleration overtaking request instruction; The comprehensive response strategy includes: presenting the acceleration overtaking request command to the driver through a human-machine interface, obtaining the driver's confirmation response to the request, and in response to obtaining the confirmation response, controlling the vehicle to accelerate and overtake the interfering source vehicle.

7. The method according to claim 1, characterized in that, Before generating a comprehensive response strategy, after identifying a target vehicle in front of or to the side of the vehicle as a preset type of interference source vehicle through the vehicle-mounted perception system, the following steps are also included: Based on the identification results of the interference source vehicle, assess its impact level on the driver and passengers of the vehicle. The comprehensive response strategy is generated based on the impact level.

8. The method according to claim 7, characterized in that, The assessment of impact levels includes: Based on the relative distance, relative speed, current wind direction, and operating status parameters of the interfering vehicle and the interfering vehicle, the influence level value is calculated through a preset influence level calculation model. The impact level calculation model is as follows: Impact level value = α * (1 / relative distance) + β * relative speed + γ * wind direction influence coefficient + δ * working status influence coefficient; Wherein, α, β, γ, and δ are preset weighting coefficients, the wind direction influence coefficient is determined based on the angle between the current wind direction and the vehicle's driving direction, and the working state influence coefficient is determined based on the working state parameters of the interference source vehicle. The calculated impact level value is compared with the preset impact level threshold to determine the final impact level.

9. The method according to claim 1, characterized in that, After implementing the comprehensive response strategy and informing the driver of the reason for implementing the strategy through a human-machine interface, the method further includes: Detect the relative positional relationship between the vehicle and the interfering source vehicle; In response to detecting that the vehicle has overtaken the interfering vehicle and the relative distance between the vehicle and the interfering vehicle has reached a preset safe distance, the vehicle's window status is restored to the state before the comprehensive response strategy was executed.

10. The method according to claim 1, characterized in that, The information provided to the driver includes: the type of the interfering vehicle, and the control action information included in the comprehensive response strategy.

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