A method for cooperative avoidance for novice drivers, electronic device, storage medium

Abstract

The application provides a method for cooperative avoidance of a novice driver, an electronic device and a storage medium, and the method comprises the following steps: controlling the first vehicle to be in communication connection with a second vehicle around the first vehicle; acquiring a first driving parameter of the first vehicle through a sensor, evaluating a safety level of the first vehicle according to the first driving parameter, and judging whether the driving proficiency of the driver of the first vehicle meets the requirement according to the safety level; if the driving proficiency of the driver of the first vehicle does not meet the requirement, controlling the first vehicle to send early warning information to the second vehicle, and controlling the second vehicle to reserve a safety distance between the second vehicle and the first vehicle according to the safety level. The application solves the technical problem that the prior art cannot adjust the avoidance strategy of the surrounding vehicle according to the actual operation level of the driver, resulting in that the vehicle avoidance response is not timely and the safety redundancy is insufficient.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically, to a cooperative obstacle avoidance method, electronic device, and storage medium for novice drivers. Background Technology

[0002] With the development of vehicle intelligence, V2X (vehicle-to-everything) technology has made collaborative safety between vehicles possible. However, existing avoidance schemes usually only make judgments based on the physical distance or motion state between vehicles. In real road environments, there are significant differences in the operating habits, psychological qualities, and driving skills of different drivers (especially novice drivers).

[0003] However, the relevant technologies have at least one of the following problems: the existing technologies cannot adjust the avoidance strategies of surrounding vehicles according to the driver's actual operating level, resulting in untimely vehicle avoidance response and insufficient safety redundancy. Summary of the Invention

[0004] The technical problem solved by this invention is that the prior art cannot adjust the avoidance strategy of surrounding vehicles according to the driver's actual operating level, resulting in untimely vehicle avoidance response and insufficient safety redundancy.

[0005] To address the aforementioned problems, this invention provides a cooperative obstacle avoidance method for novice drivers. The method includes: establishing a communication connection between a first vehicle and second vehicles surrounding the first vehicle; acquiring first driving parameters of the first vehicle through sensors; assessing the safety level of the first vehicle based on the first driving parameters; determining whether the driver's proficiency meets the requirements based on the safety level; if the driver's proficiency does not meet the requirements, controlling the first vehicle to send a warning message to the second vehicles; and controlling the second vehicle to maintain a safe distance between the second vehicle and the first vehicle based on the safety level.

[0006] Compared with existing technologies, the technical effects achieved by this solution are as follows: The driver's status is synchronized with surrounding vehicles via communication. By combining hazard warning with safe distance reservation, surrounding vehicles can take proactive avoidance measures against novice drivers, improving the initiative and redundancy of obstacle avoidance.

[0007] In one embodiment of the present invention, acquiring first driving parameters of a first vehicle through sensors, assessing the safety level of the first vehicle based on the first driving parameters, and determining whether the driver's driving proficiency meets the requirements based on the safety level include: the first driving parameters include steering wheel fine-tuning frequency. Steering wheel turning angle standard deviation Vehicle braking frequency Vehicle centering Number of unplanned lane departures ; Adjust the frequency according to the steering wheel Calculate the score for steering wheel vibration frequency. According to the standard deviation of steering wheel turning radius Calculate steering operation score According to the vehicle braking frequency Calculate braking frequency score According to vehicle centering accuracy Calculate lane centering score Based on the number of unplanned lane departures Calculate the unplanned lane departure score Scoring is based on the frequency of steering wheel vibrations. Steering operation score Braking frequency score Maintaining a score by staying in the center of the lane Unplanned lane departure score Calculate the safety level; based on the safety level, determine whether the driver of the first vehicle has the required driving proficiency.

[0008] Compared to existing technologies, the technical effects achieved by this solution include: selecting specific parameters such as fine-tuning frequency and number of deviations because these indicators directly reflect the driver's ability to finely control the vehicle, thus increasing the ability to identify the driver's proficiency.

[0009] In one embodiment of the present invention, a score is obtained based on the frequency of steering wheel micro-vibration. Steering operation score Braking frequency score Maintaining a score by staying in the center of the lane Unplanned lane departure score The calculation of security level includes: Scoring based on the frequency of steering wheel vibrations Steering operation score Braking frequency score Maintaining a score by staying in the center of the lane Unplanned lane departure score Calculate the first safety score And follow the formulas 9 to 11 below: Formula 9: ; Formula 10: ; Formula 11: Finding the factors that punish weaknesses And based on the weakness penalty factor Calculate penalty parameters According to the penalty parameters With the first safety score Calculate the final safety score And follow the formulas 12 to 14 below: Formula 12: ; Formula 13: ; Formula 14: Based on the final safety score Calculate the safety level, and based on the safety level, determine whether the driver of the first vehicle meets the required driving proficiency; among which, These represent the scores for the frequency of steering wheel vibration. Steering operation score Braking frequency score Maintaining a score by staying in the center of the lane Unplanned lane departure score Health status; These represent the scores for the frequency of steering wheel vibration. Steering operation score Braking frequency score Maintaining a score by staying in the center of the lane Unplanned lane departure score Weighting coefficients; This indicates the highest safety score for the first vehicle. This represents the penalty coefficient.

[0010] Compared to existing technologies, this technical solution achieves the following advantages: by introducing a weakest link penalty mechanism through a formula, it effectively solves the problem of "average values ​​masking fatal flaws." Even if the driver performs most of their operations correctly, if any operation carries an extreme risk, the system will still give a lower score, ensuring the baseline safety of the evaluation results.

[0011] In one embodiment of the invention, based on the final security score Calculate the safety level and determine whether the driver of the first vehicle meets the required driving proficiency based on the safety level, including comparing the final safety score. With the first qualified threshold Second qualified threshold Second qualified threshold Greater than the first qualified threshold If the final safety score Less than the first qualified threshold If the final safety score is low, the first vehicle is classified as having a safety level of L1; if the final safety score is low, the first vehicle is classified as having a safety level of L1. Greater than or equal to the first qualified threshold And less than the second qualified threshold If the final safety score is low, then the first vehicle is classified as having a safety level of L2; if the final safety score is low, then the first vehicle is classified as having a safety level of L2. Greater than or equal to the second qualified threshold If the safety level of the first vehicle is determined to be L3, then the safety level of the first vehicle is determined to be L3. If not, then the driver's driving proficiency is determined to be insufficient.

[0012] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: by dividing the driver's skill level into L1-L3 levels, a more intuitive basis for judging the driver's skill level is provided, allowing surrounding vehicles to quickly identify the skill level of the driver of the vehicle.

[0013] In one embodiment of the present invention, controlling the second vehicle to reserve a safe distance between the second vehicle and the first vehicle according to a safety level includes: acquiring the coordinate information of the first vehicle and the second vehicle through sensors, determining whether the first vehicle and the second vehicle are traveling in the same lane based on the coordinate information; if so, controlling the longitudinal speed of the second vehicle to make the longitudinal relative distance between the first vehicle and the second vehicle greater than a longitudinal distance threshold, and controlling the second vehicle to send corresponding feedback information to the first vehicle; if not, controlling the lateral speed of the second vehicle to make the lateral relative distance between the first vehicle and the second vehicle greater than a lateral distance threshold, and controlling the second vehicle to send corresponding feedback information to the first vehicle.

[0014] Compared to existing technologies, this technical solution achieves the following effects: it controls the longitudinal and lateral relative distances for vehicles in the same lane and different lanes respectively, giving avoidance maneuvers spatial directionality. This ensures that in high-speed following or lane-changing scenarios, surrounding vehicles can quickly create a safe space in a manner that best conforms to dynamic trajectories.

[0015] In one embodiment of the present invention, controlling the second vehicle to send corresponding feedback information to the first vehicle includes controlling the broadcast system in the first vehicle to send a safe distance voice message corresponding to the longitudinal and lateral relative distances to the driver of the first vehicle.

[0016] Compared with existing technologies, the technical effects achieved by this solution are: feedback of avoidance information to the first vehicle, realizing two-way coordination. Not only are surrounding vehicles avoiding the obstacle, but the driver of this vehicle can also correct their actions through voice prompts, reducing the pressure of avoidance from the source.

[0017] In one embodiment of the present invention, controlling a first vehicle to send warning information to a second vehicle includes: the warning information including the safety level of the first vehicle and the coordinate position of the first vehicle; controlling the display terminal of the second vehicle to display the real-time coordinate position of the first vehicle and information on the corresponding safety level of the first vehicle.

[0018] Compared with existing technologies, the technical effects achieved by adopting this technical solution are: displaying real-time coordinates and levels on the second vehicle screen, providing intuitive psychological expectations for surrounding drivers, assisting them in making decisions, and further reducing the risk of accidents.

[0019] In one embodiment of the present invention, the sensor is a camera and / or millimeter-wave radar.

[0020] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: the arrangement of front-end and back-end sensors ensures the integrity of the data link, prevents evaluation failure caused by single-view occlusion, and improves the fault tolerance of the system.

[0021] On the other hand, the present invention also provides an electronic device comprising: a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, constitute steps of a cooperative avoidance method for novice drivers in any of the above examples.

[0022] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: it can achieve the technical effects corresponding to any of the above examples, which will not be elaborated here.

[0023] On the other hand, the present invention also provides a storage medium storing a program or instructions that, when executed by a processor, implement the steps of the cooperative avoidance method for novice drivers as described in any of the above examples.

[0024] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: it can achieve the technical effects corresponding to any of the above examples, which will not be elaborated here.

[0025] By adopting the technical solution of the present invention, the following technical effects can be achieved: (1) The driver status of this vehicle is synchronized with surrounding vehicles through a communication connection. Combining hazard warning with safe distance reservation enables surrounding vehicles to take proactive avoidance measures against novice drivers in advance, improving the initiative and redundancy of avoidance; (2) Specific parameters such as fine-tuning frequency and number of deviations are selected because these indicators directly reflect the driver's ability to finely control the vehicle. This increases the ability to identify the driver's proficiency. (3) By introducing a mechanism of penalty for shortcomings through formula, the problem of "average value masking fatal defects" can be effectively solved. Even if the driver's operation is mostly qualified, as long as there is an extreme risk in one operation, the system will give a lower score, ensuring the bottom line safety of the evaluation results. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a flowchart illustrating a cooperative obstacle avoidance method for novice drivers, provided as an embodiment of the present invention. Detailed Implementation

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] See Figure 1 This is a flowchart illustrating a collaborative obstacle avoidance method for novice drivers provided in an embodiment of the present invention.

[0029] This invention provides a cooperative obstacle avoidance method for novice drivers, the method comprising: Step S100: Control the communication connection between the first vehicle and the second vehicles surrounding the first vehicle; Step S200: Obtain the first driving parameters of the first vehicle through the sensor, evaluate the safety level of the first vehicle based on the first driving parameters, and determine whether the driving proficiency of the driver of the first vehicle meets the requirements based on the safety level. Step S300: If the driver of the first vehicle does not meet the driving proficiency requirements, control the first vehicle to send a warning message to the second vehicle, and control the second vehicle to reserve a safe distance between the second vehicle and the first vehicle according to the safety level.

[0030] By synchronizing the driver's status with surrounding vehicles through a communication connection, and combining hazard warnings with safe distance reservations, surrounding vehicles can take proactive avoidance measures against novice drivers in advance, thereby improving the initiative and redundancy of avoidance.

[0031] Preferably, in step S300 of this application, after detecting that the first vehicle sends a warning message to the second vehicle, the processing means further include: controlling the second vehicle to turn on its hazard lights to warn vehicles further away; controlling the second vehicle to provide the first vehicle with a recommendation of the 'optimal driving trajectory curve'; or in a multi-lane environment, controlling the second vehicle to actively change to an adjacent lane to give way to the current lane.

[0032] Preferably, the communication technology between multiple vehicles in this application is V2V (V2V Communication Technology).

[0033] Preferably, the communication connection of the cooperative avoidance method mentioned in this application is not limited to V2V, but also includes V2I (vehicle-to-infrastructure) or V2N (vehicle-to-network) connections relayed through base stations. The communication protocol may adopt DSRC, C-V2X (LTE-V2X or 5G-V2X) or other proprietary wireless communication protocols.

[0034] Further, step S200 includes: The first driving parameter includes the frequency of steering wheel fine-tuning. Steering wheel turning angle standard deviation Vehicle braking frequency Vehicle centering Number of unplanned lane departures ; Step S210: Adjust the frequency of steering wheel fine-tuning Calculate the score for steering wheel vibration frequency. ; Preferably, in one embodiment of this application, the maximum score for calculating the score is 100 points.

[0035] Preferably, the steering wheel vibration frequency score Follow the formula below: Formula 1: ; According to the standard deviation of steering wheel turning amplitude Calculate steering operation score ; Preferably, the steering operation score Follow the formula 2 below: Formula 2: ; According to vehicle braking frequency Calculate braking frequency score ; Preferably, braking frequency score Follow the formula below: Formula 3: ; Based on vehicle centering Calculate lane centering score ; Preferably, lane centering score is maintained. Follow formulas 4 through 7 below: Formula 4: ; Formula 5: ; Formula 6: ; Formula 7: ; in, This represents the lateral offset between the centerline of the sampled vehicle and the centerline of the lane within a certain time period. Indicates the average absolute offset. Indicates the standard deviation of the offset. This represents the signed average offset.

[0036] Based on the number of unplanned lane departures Calculate the unplanned lane departure score ; Preferably, the number of unplanned lane departures Specifically, it refers to the number of times a vehicle's tires cross or approach the lane lines without using the turn signal.

[0037] Preferably, unplanned lane departure score Follow the formula below: Formula 8: ; Step S220: Score based on the frequency of steering wheel vibration. Steering operation score Braking frequency score Maintaining a score by staying in the center of the lane Unplanned lane departure score Calculate the security level; Step S230: Determine whether the driver of the first vehicle has the required driving proficiency based on the safety level.

[0038] Specific parameters such as fine-tuning frequency and number of deviations are selected because these indicators directly reflect the driver's ability to finely control the vehicle, thus increasing the ability to identify the driver's proficiency.

[0039] Further, step S220 includes: Step S221: Score based on the frequency of steering wheel vibration. Steering operation score Braking frequency score Maintaining a score by staying in the center of the lane Unplanned lane departure score Calculate the first safety score And follow the formulas 9 to 11 below: Formula 9: ; Formula 10: ; Formula 11: ; Preferably, in one embodiment of this application It is 0.15. It is 0.15. It is 0.20. It is 0.25. It is 0.25.

[0040] Step S222: Identify the weakness penalty factor And based on the weakness penalty factor Calculate penalty parameters According to the penalty parameters With the first safety score Calculate the final safety score And follow the formulas 12 to 14 below: Formula 12: ; Formula 13: ; Preferably, in one embodiment of this application, It is 0.3.

[0041] Formula 14: ; Step S223: Based on the final security score Calculate the safety level and determine whether the driver of the first vehicle has the required driving skills based on the safety level. in, These represent the scores for the frequency of steering wheel vibration. Steering operation score Braking frequency score Maintaining a score by staying in the center of the lane Unplanned lane departure score Health status; These represent the scores for the frequency of steering wheel vibration. Steering operation score Braking frequency score Maintaining a score by staying in the center of the lane Unplanned lane departure score Weighting coefficients; This indicates the highest safety score for the first vehicle. This represents the penalty coefficient.

[0042] By introducing a penalty mechanism for weaknesses through a formula, the problem of "average values ​​masking fatal flaws" can be effectively solved. Even if the driver's operations are mostly satisfactory, if any operation carries an extreme risk, the system will give a lower score, ensuring the bottom line safety of the evaluation results.

[0043] Further, step S230 includes: Step S231: Compare the final security scores With the first qualified threshold Second qualified threshold Second qualified threshold Greater than the first qualified threshold ; Step S232: If the final safety score Less than the first qualified threshold If so, the safety level of the first vehicle is determined to be L1. If the final safety score Greater than or equal to the first qualified threshold And less than the second qualified threshold If so, the safety level of the first vehicle is determined to be L2. If the final safety score Greater than or equal to the second qualified threshold If so, the safety level of the first vehicle is determined to be L3. Step S233: Determine if the security level is L3; Step S234: If not, it is determined that the driver of the first vehicle does not meet the driving proficiency requirements.

[0044] By dividing drivers into L1-L3 levels, a more intuitive basis for judging driver proficiency is provided, allowing surrounding vehicles to quickly identify the driver's proficiency.

[0045] Further, step S300 includes: Step S310: Obtain the coordinate information of the first vehicle and the second vehicle through the sensor, and determine whether the first vehicle and the second vehicle are traveling in the same lane based on the coordinate information; Step S320: If yes, control the longitudinal speed of the second vehicle so that the longitudinal relative distance between the first vehicle and the second vehicle is greater than the longitudinal distance threshold, and control the second vehicle to send the corresponding feedback information to the first vehicle. If not, control the lateral speed of the second vehicle to make the lateral relative distance between the first and second vehicles greater than the lateral distance threshold, and control the second vehicle to send corresponding feedback information to the first vehicle.

[0046] The system controls longitudinal and lateral relative distances for vehicles in the same lane and vehicles in different lanes respectively, giving avoidance maneuvers spatial directionality. This ensures that in high-speed following or lane-changing scenarios, surrounding vehicles can quickly create a safe space in a manner that best conforms to dynamic trajectories.

[0047] Further, step S320 includes: Step S321: Control the broadcast system in the first vehicle to send a voice message corresponding to the longitudinal and lateral relative distances to the driver of the first vehicle.

[0048] The information on avoiding obstacles is fed back to the first vehicle, achieving two-way coordination. Not only are surrounding vehicles avoiding the obstacle, but the driver of this vehicle can also correct their actions through voice prompts, reducing the pressure of avoiding obstacles from the source.

[0049] Further, step S300 includes: Step S320: The warning information includes the safety level of the first vehicle and the coordinates of the first vehicle; the display terminal controlling the second vehicle displays the real-time coordinates of the first vehicle and the corresponding safety level information.

[0050] The real-time coordinates and level are displayed on the second vehicle's screen, providing surrounding drivers with an intuitive psychological expectation and assisting them in making decisions, thereby further reducing the risk of accidents.

[0051] Furthermore, the sensors are cameras and / or millimeter-wave radar.

[0052] Preferably, the sensors also include lidar, ultrasonic radar, inertial measurement unit (IMU), or vehicle bus (CAN bus). The primary driving parameters are not limited to being obtained through external sensing, but can also be directly read from the on-board diagnostic system (OBD) to obtain low-level data such as steering angular velocity and brake pedal travel.

[0053] The arrangement of front-end and back-end sensors ensures the integrity of the data link, prevents evaluation failure due to occlusion from a single viewpoint, and improves the fault tolerance of the system.

[0054] On the other hand, the present invention also provides an electronic device comprising: a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, constitute steps of a cooperative avoidance method for novice drivers in any of the above examples.

[0055] On the other hand, the present invention also provides a storage medium on which a program or instruction is stored, which, when executed by a processor, implements any of the above examples.

[0056] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A cooperative obstacle avoidance method for novice drivers, characterized in that, The cooperative avoidance methods for novice drivers include: Control the communication connection between the first vehicle and the second vehicles surrounding the first vehicle; The first driving parameters of the first vehicle are obtained by sensors, the safety level of the first vehicle is evaluated based on the first driving parameters, and the driving proficiency of the driver of the first vehicle is determined based on the safety level. If the driver of the first vehicle does not meet the required driving proficiency, the first vehicle is controlled to send a warning message to the second vehicle, and the second vehicle is controlled to maintain a safe distance between the second vehicle and the first vehicle according to the safety level.

2. The cooperative obstacle avoidance method for novice drivers according to claim 1, characterized in that, The step of acquiring the first driving parameters of the first vehicle through sensors, evaluating the safety level of the first vehicle based on the first driving parameters, and determining whether the driving proficiency of the driver of the first vehicle meets the requirements based on the safety level includes: The first driving parameter includes the frequency of steering wheel fine-tuning. Steering wheel turning angle standard deviation Vehicle braking frequency Vehicle centering Number of unplanned lane departures ; According to the steering wheel fine-tuning frequency Calculate the score for steering wheel vibration frequency. ; According to the standard deviation of the steering wheel turning angle Calculate steering operation score ; According to the vehicle braking frequency Calculate braking frequency score ; Based on the vehicle centering retention Calculate lane centering score ; Based on the number of unplanned lane departures Calculate the unplanned lane departure score ; Score based on the steering wheel vibration frequency The steering operation score The braking frequency score The lane centering score is as follows. The unplanned lane departure score Calculate the security level; Based on the stated safety level, determine whether the driver's skill level in the first vehicle meets the requirements.

3. The cooperative obstacle avoidance method for novice drivers according to claim 2, characterized in that, The score is based on the frequency of steering wheel vibration. The steering operation score The braking frequency score The lane centering score is as follows. The unplanned lane departure score Calculating the security level includes: Score based on the steering wheel vibration frequency The steering operation score The braking frequency score The lane centering score is as follows. The unplanned lane departure score Calculate the first safety score And follow the formulas 9 to 11 below: Official 9: ; Official 10: ; Official 11: ; Finding the weakness penalty factor And according to the aforementioned short-board penalty factor Calculate penalty parameters According to the penalty parameter With the first security score Calculate the final safety score And follow the formulas 12 to 14 below: Official 12: ; Official 13: ; Official 14: ; Based on the final security score Calculate the safety level, and determine whether the driver's skill level of the first vehicle meets the requirements based on the safety level; in, These represent the scores for the steering wheel micro-vibration frequency. The steering operation score The braking frequency score The lane centering score is as follows. The unplanned lane departure score Health status; These represent the scores for the steering wheel micro-vibration frequency. The steering operation score The braking frequency score The lane centering score is as follows. The unplanned lane departure score Weighting coefficients; This indicates the highest safety score for the first vehicle. This represents the penalty coefficient.

4. The cooperative obstacle avoidance method for novice drivers according to claim 3, characterized in that, The based on the final security score Calculating the safety level and determining whether the driver's skill level of the first vehicle meets the requirements based on the safety level includes: Compare the final safety scores With the first qualified threshold Second qualified threshold Second qualified threshold Greater than the first qualified threshold ; If the final safety score Less than the first qualified threshold If so, the safety level of the first vehicle is determined to be L1. If the final safety score Greater than or equal to the first qualified threshold And less than the second qualified threshold If so, the safety level of the first vehicle is determined to be L2. If the final safety score Greater than or equal to the second qualified threshold If so, the safety level of the first vehicle is determined to be L3. Determine whether the security level is L3; If not, it is determined that the driver of the first vehicle does not meet the required driving skills.

5. The cooperative obstacle avoidance method for novice drivers according to claim 1, characterized in that, Controlling the second vehicle to maintain a safe distance between the second vehicle and the first vehicle according to the safety level includes: The coordinate information of the first vehicle and the second vehicle is obtained by the sensor, and it is determined whether the first vehicle and the second vehicle are traveling in the same lane based on the coordinate information. If so, the longitudinal speed of the second vehicle is controlled so that the longitudinal relative distance between the first vehicle and the second vehicle is greater than the longitudinal distance threshold, and the second vehicle is controlled to send corresponding feedback information to the first vehicle. If not, the lateral speed of the second vehicle is controlled so that the lateral relative distance between the first vehicle and the second vehicle is greater than the lateral distance threshold, and the second vehicle is controlled to send corresponding feedback information to the first vehicle.

6. The cooperative obstacle avoidance method for novice drivers according to claim 5, characterized in that, The control of the second vehicle to send corresponding feedback information to the first vehicle includes: The system controls the broadcast system inside the first vehicle to send a voice message corresponding to the longitudinal and lateral relative distances to the driver of the first vehicle.

7. The cooperative obstacle avoidance method for novice drivers according to claim 1, characterized in that, The step of controlling the first vehicle to send a warning message to the second vehicle includes: The warning information includes the safety level of the first vehicle and the coordinates of the first vehicle. The display terminal controlling the second vehicle displays the real-time coordinates of the first vehicle and its corresponding safety level.

8. The cooperative obstacle avoidance method for novice drivers according to claim 1, characterized in that, The sensor is a camera and / or millimeter-wave radar.

9. An electronic device, characterized in that, The electronic device includes: A processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the cooperative avoidance method for novice drivers as described in any one of claims 1 to 8.

10. A storage medium, characterized in that, The storage medium stores a program or instructions that, when executed by a processor, implement the steps of the cooperative avoidance method for novice drivers as described in any one of claims 1 to 8.

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