Vehicle emergency steering control method, device, equipment and storage medium

Abstract

The application discloses a vehicle emergency steering control method, device, equipment and storage medium. The method comprises the following steps: obtaining the driving state of a target vehicle, wherein the driving state is used to indicate whether the target vehicle is driving in reverse; screening the avoidance lane for emergency steering from the lanes on both sides of the current lane of the vehicle according to the driving state and the environmental information perceived by the target vehicle; and controlling the driving track of the target vehicle according to the screened avoidance lane. By obtaining the driving state indicating whether the vehicle is driving in reverse, the safe avoidance lane for emergency steering is screened from the lanes on both sides of the current lane of the vehicle according to the driving state and the environmental information around the vehicle, so that the reasonable lane changing decision of the vehicle in an emergency is ensured, the driving track of the vehicle is controlled according to the screened avoidance lane, the safe emergency avoidance is realized, and the collision accident is avoided.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, specifically to a vehicle emergency steering control method, device, equipment, and storage medium. Background Technology

[0002] Automatic Emergency Steering (AES) is a function that monitors environmental information in front of and to the sides of the vehicle in real time. When it detects a potential collision hazard with a target in front, and the Automatic Emergency Braking (AEB) system applies full braking, if there is still a relative collision speed with the target in front, it can automatically control the vehicle's steering to avoid a collision or mitigate the consequences of a collision.

[0003] Automatic emergency steering is the backup command for emergency obstacle avoidance. It will only be executed when the vehicle determines that the distance is insufficient to stop, thus ensuring the safety of all road users to the greatest extent.

[0004] However, the current automatic emergency steering function does not have a comprehensive and perfect lane change decision scheme. Summary of the Invention

[0005] The purpose of this application is to provide a vehicle emergency steering control method, device, equipment, and storage medium to address the shortcomings of the prior art, and this purpose is achieved through the following technical solutions.

[0006] A first aspect of this application provides a vehicle emergency steering control method, the method comprising:

[0007] The driving status of the target vehicle is obtained, and the driving status is used to indicate whether the target vehicle is driving in the wrong direction;

[0008] Based on the driving status and the environmental information perceived by the target vehicle, lanes on both sides of the vehicle's current lane are selected as emergency turning avoidance lanes.

[0009] The target vehicle's trajectory is controlled based on the selected avoidance lane.

[0010] A second aspect of this application provides a vehicle emergency steering control device, the device comprising:

[0011] The acquisition module is used to acquire the driving status of the target vehicle, wherein the driving status is used to indicate whether the target vehicle is driving in the wrong direction;

[0012] The filtering module is used to filter the lanes on both sides of the vehicle's current lane as emergency turning avoidance lanes based on the driving status and the environmental information perceived by the target vehicle.

[0013] The control module is used to control the driving trajectory of the target vehicle based on the selected avoidance lane.

[0014] A third aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the method described in the first aspect above.

[0015] The fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the method described in the first aspect above.

[0016] Based on the vehicle emergency steering control method, device, equipment, and storage medium described above, this application has at least the following beneficial effects or advantages:

[0017] By acquiring the driving status indicating whether a vehicle is driving in the wrong direction, and then selecting safe lanes for emergency steering from the lanes on both sides of the vehicle's current lane based on the driving status and the surrounding environment, the system ensures that the vehicle can make reasonable lane-changing decisions in emergency situations. By controlling the vehicle's trajectory according to the selected lanes, safe emergency avoidance can be achieved, thus preventing collisions.

[0018] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0020] Figure 1 This is a flowchart illustrating an embodiment of a vehicle emergency steering control method according to an exemplary embodiment;

[0021] Figures 2A-2B This is a schematic diagram illustrating a vehicle making an emergency turn according to an exemplary embodiment;

[0022] Figure 3A This is a schematic diagram illustrating a scenario where a vehicle swerves to the left according to an exemplary embodiment.

[0023] Figure 3B This is a schematic diagram illustrating a scenario where a vehicle swerves to the right according to an exemplary embodiment.

[0024] Figure 4 This is a schematic diagram illustrating an emergency lane-changing decision for a vehicle according to an exemplary embodiment;

[0025] Figure 5 This is a schematic diagram illustrating the structure of a vehicle emergency steering control device according to an exemplary embodiment;

[0026] Figure 6 This is a schematic diagram of the hardware structure of an electronic device according to an exemplary embodiment;

[0027] Figure 7 This is a schematic diagram illustrating the structure of a storage medium according to an exemplary embodiment. Detailed Implementation

[0028] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0029] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0030] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0031] As mentioned earlier, the current automatic emergency steering function does not have a comprehensive and perfect lane change decision scheme.

[0032] Based on this, this application proposes a vehicle emergency steering control method. After the vehicle meets the automatic emergency steering conditions, the method obtains the driving status indicating whether the vehicle is driving in the wrong direction. Based on the driving status and combined with the environmental information around the vehicle, the method selects an emergency steering avoidance lane from the two lanes on both sides of the vehicle's current lane to ensure that the vehicle makes a reasonable lane change decision in an emergency. The method then controls the vehicle's trajectory according to the selected avoidance lane to achieve safe emergency avoidance and prevent collision accidents.

[0033] The technical solution of this application and how it solves the aforementioned technical problems are described in detail below with specific embodiments. The listed specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0034] Figure 1 This is a flowchart illustrating an embodiment of a vehicle emergency steering control method according to an exemplary embodiment. This embodiment is applicable to vehicle emergency steering situations. The method can be executed by a vehicle emergency steering control device, which can be implemented in hardware and / or software. The vehicle emergency steering control device can be configured in any electronic device with network communication and computing capabilities. Figure 1 As shown, the method includes the following steps 101 to 103:

[0035] Step 101: Obtain the driving status of the target vehicle, which indicates whether the target vehicle is driving in the wrong direction;

[0036] Step 102: Based on the driving status and the environmental information perceived by the target vehicle, select the lanes on both sides of the vehicle's current lane as emergency turning avoidance lanes.

[0037] Step 103: Control the trajectory of the target vehicle based on the selected avoidance lane.

[0038] In this embodiment, the target vehicle refers to a vehicle that automatically makes emergency steering according to the scenario. The target vehicle can be an intelligent connected car with an autonomous driving system.

[0039] Driving status can be understood as the current driving situation of a vehicle, used to indicate whether the target vehicle is driving in the wrong direction. In other words, driving status can include both driving in the wrong direction and driving normally.

[0040] It is worth noting that determining whether a vehicle is traveling in the wrong direction is to ensure the safety of emergency steering and avoidance decisions, thus preventing unsafe steering behaviors.

[0041] Environmental information can be understood as the surrounding environment currently monitored by the target vehicle. In practical applications, vehicles are equipped with various sensors (such as radar and onboard cameras) to perceive road and obstacle elements around the vehicle. These road and obstacle elements are all part of the vehicle's surrounding environment and affect the vehicle's trajectory planning. Therefore, environmental information includes obstacle information, lane line information, and the target vehicle's position.

[0042] An avoidance lane can be understood as a safe lane that a target vehicle can use for emergency steering. This avoidance lane can be the lane adjacent to the left of the vehicle's current lane or the lane adjacent to the right of the vehicle's current lane.

[0043] The driving trajectory of the target vehicle is controlled according to the selected avoidance lane. Specifically, if the selected avoidance lane is the lane adjacent to the left of the vehicle's current lane, the decision to change lanes to the left is provided to the trajectory planning module for trajectory planning. If the selected avoidance lane is the lane adjacent to the right of the vehicle's current lane, the decision to change lanes to the right is provided to the trajectory planning module for trajectory planning.

[0044] It should be noted that if the filtering result in step 102 is empty, that is, there is no lane available for emergency turning, then the decision that lane changing is not allowed can be provided to the trajectory planning module for trajectory planning.

[0045] This completes the above. Figure 1 The vehicle emergency steering control process shown in the diagram obtains the driving status indicating whether the vehicle is driving in the wrong direction. Based on the driving status and the surrounding environmental information, it selects safe lanes for emergency steering from the lanes on both sides of the vehicle's current lane. This ensures that the vehicle can make a reasonable lane-changing decision in an emergency, and controls the vehicle's trajectory according to the selected lane to achieve safe emergency avoidance and prevent collisions.

[0046] In some embodiments of this application, step 101, which involves obtaining the driving status of the target vehicle, may include:

[0047] When the target vehicle meets the conditions for automatic emergency steering, the lane line information perceived by the target vehicle is acquired, and the driving status of the target vehicle is determined based on the lane line information and the driving direction of the target vehicle.

[0048] Automatic emergency steering conditions refer to the conditions under which a target vehicle performs an emergency lane change. For example, if the target vehicle detects a potential collision hazard with a target ahead, and the automatic emergency braking system applies full braking but the target vehicle still has a relative collision speed with the target ahead, automatic emergency steering is triggered.

[0049] Lane information can be understood as a road element currently detected by the target vehicle. Lane information includes lane position, lane type, and traffic flow direction indicated by the lane.

[0050] As mentioned earlier, driving status includes two types: driving against traffic and driving normally.

[0051] In this embodiment, by acquiring the lane line information perceived by the target vehicle, it is easy to know the traffic flow direction of the road where the target vehicle is currently located. By comparing the driving direction of the target vehicle with the traffic flow direction, it can be determined whether the target vehicle is in a reverse driving state or a normal driving state.

[0052] It should be noted that the above method of determining whether a vehicle is driving in the wrong direction by combining lane line information with the vehicle's driving direction is only an example. GPS (Global Positioning System) positioning and high-precision map data can also be used to determine the vehicle's driving status.

[0053] In some embodiments of this application, step 102, which selects lanes for emergency steering from the lanes on either side of the vehicle's current lane based on the driving status and environmental information perceived by the target vehicle, may include:

[0054] When the driving status indicates that the vehicle is driving in the wrong direction, the first lane adjacent to the right of the vehicle's current lane is selected as the yield lane based on environmental information; when the driving status indicates that the vehicle is driving normally, the first lane adjacent to the right of the vehicle's current lane or the second lane adjacent to the left of the vehicle's current lane is selected as the yield lane based on environmental information.

[0055] The first lane refers to the lane located to the right of the target vehicle and closest to its current lane.

[0056] The second lane refers to the lane located to the left of the target vehicle and closest to its current lane.

[0057] When traveling against the flow of traffic, if the target vehicle changes lanes to the left, it may enter a potential collision zone with vehicles in the oncoming lane, endangering the safety of other road users. Therefore, to ensure the safety of emergency steering and avoidance decisions, the target vehicle can only change lanes to the right.

[0058] like Figure 2A As shown, vehicle A is traveling in the opposite lane. There is a relative collision speed between vehicle A and vehicle B in front of it. When vehicle A needs to make an emergency evasive maneuver, it can only evade to the lane to the right of vehicle A.

[0059] Under normal driving conditions, the direction of travel of the target vehicle is the same as the direction of traffic flow. If the target vehicle needs to make emergency avoidance, it can change lanes to the right or the left.

[0060] like Figure 2B As shown, vehicle A is driving normally in the lane. When vehicle A has a relative collision speed with vehicle B in front and needs to make emergency avoidance, it can either change lanes to the right or to the left to avoid the collision.

[0061] In this embodiment, when the vehicle's driving status indicates reversing, only the first lane is selected as the avoidance lane by combining environmental information to ensure the safety of emergency steering and avoidance decisions. When the vehicle's driving status indicates normal driving, the first or second lane is selected by combining environmental information to make reasonable avoidance, ensuring that obstacles ahead are avoided while avoiding the risk of collision with other road users.

[0062] In some embodiments of this application, the process of selecting the first lane adjacent to the right side of the vehicle's current lane as a yielding lane based on environmental information may include:

[0063] If the target vehicle meets the conditions for changing lanes to the right, obstacles in the first lane and the third lane adjacent to the right of the first lane are screened based on environmental information. If the screening results of obstacles in the first lane and the third lane meet the preset lane-changing conditions, the first lane is used as the yield lane.

[0064] The right lane change condition is used to indicate the road attribute conditions that the first lane needs to have.

[0065] The third lane refers to the lane located to the right of the first lane and closest to it. In other words, when determining whether the first lane can be used as a yielding lane, both the obstacles in the first lane and the obstacles in the adjacent lane to the right of the first lane must be considered.

[0066] For example, such as Figure 3A In the right-side avoidance scenario shown, the first lane to the right of vehicle A is lane 1, and the adjacent lane to the right of lane 1 is lane 2. By filtering the obstacles in the perception area that vehicle A can detect in lanes 1 and 2, it is determined whether the first lane can be used as an avoidance lane.

[0067] The obstacle screening results can be understood as the screening results for traffic participants in the first and third lanes. As mentioned earlier, environmental information includes lane line information, obstacle information, and target vehicle position. Typically, the first and third lanes can be located using lane line information and target vehicle position. Obstacle information, combined with the located first and third lanes, can be used to screen obstacles in the first and third lanes.

[0068] Preset lane change conditions are used to indicate the conditions that traffic participants in the lane to which they are turning must meet.

[0069] In this embodiment, by determining that the target vehicle meets the right lane-changing conditions, it can be ensured that the first lane to be turned has the road attributes required for lane changing. Furthermore, by using the obstacle screening results on the first and third lanes and the preset lane-changing conditions, a decision is made on whether to use the first lane as a yield lane. Since vehicle speeds are generally high in emergency turning situations, and the turning radius is large during lane changing, the vehicle may occupy part of the third lane. Therefore, the obstacle situation in both the first and third lanes is considered, which further ensures that the vehicle can safely switch to the first lane.

[0070] In some embodiments of this application, the process of selecting a first lane adjacent to the right side of the vehicle's current lane or a second lane adjacent to the left side of the vehicle's current lane as a yielding lane based on environmental information may include:

[0071] If the target vehicle meets the right lane change conditions, obstacles in the first lane and the third lane adjacent to the right of the first lane are screened based on environmental information. If the obstacle screening results in the first and third lanes meet the preset lane change conditions, the first lane is designated as the yield lane. If the target vehicle does not meet the right lane change conditions or the obstacle screening results in the first and third lanes do not meet the preset lane change conditions, it is determined whether the target vehicle meets the left lane change conditions. If the left lane change conditions are met, obstacles in the second lane and the fourth lane adjacent to the left of the second lane are screened based on environmental information. If the obstacle screening results in the second and fourth lanes meet the preset lane change conditions, the second lane is designated as the yield lane.

[0072] In this embodiment, the explanation of the process of using the first lane as a yield lane can be found in the above embodiments and will not be repeated here.

[0073] If the first lane cannot be used as a yielding lane, the system continues to determine whether the second lane can be used as a yielding lane. That is, by determining that the target vehicle meets the conditions for changing lanes to the left, it can be ensured that the second lane to be turned has the road attributes required for lane changing. Furthermore, by using the obstacle screening results on the second and fourth lanes and the preset lane changing conditions, a decision is made on whether to use the second lane as a yielding lane.

[0074] The fourth lane is the lane located to the left of the second lane and closest to it. In other words, when determining whether the second lane can be used as a yield lane, both the obstacles in the second lane and the obstacles in the lane adjacent to the left of the second lane must be considered.

[0075] For example, such as Figure 3B In the left-side obstacle avoidance scenario shown, the second lane adjacent to the left of vehicle A is lane 3, and the fourth lane adjacent to the left of lane 3 is lane 4. By filtering the obstacles in the perception area that vehicle A can detect in lanes 3 and 4, it is determined whether the second lane can be used as an obstacle avoidance lane.

[0076] Because vehicles typically travel at high speeds during emergency turns and have large turning radii during lane changes, they may occupy part of the adjacent lane in the second lane. Therefore, obstacles in the second lane are considered in addition to those in the fourth lane to ensure that vehicles can safely switch to the second lane.

[0077] The left lane change condition is used to indicate the road attribute conditions that the second lane needs to have.

[0078] As can be seen from the above embodiments, when a vehicle is driving normally, it is first determined whether the first lane of the vehicle can be used as a yielding lane. If the first lane cannot be used as a yielding lane, it is then determined whether the second lane can be used as a yielding lane. In this way, emergency avoidance can be achieved while complying with traffic regulations, thus avoiding the occurrence of collision accidents.

[0079] Optionally, the aforementioned preset lane-changing conditions may include any of the following: no obstacle is detected, an obstacle is detected and it is located behind the target vehicle and its speed is lower than that of the target vehicle.

[0080] In other words, in a right-side obstacle avoidance scenario, if the obstacle screening result in the first and third lanes is that no obstacle is screened, or if the screened obstacle is located behind the target vehicle and the speed of the obstacle is lower than the speed of the target vehicle, the target vehicle can safely move into the first lane.

[0081] In the left-side obstacle avoidance scenario, if the obstacle screening result in the second and fourth lanes is that no obstacle is screened, or if the screened obstacle is located behind the target vehicle and the speed of the obstacle is lower than the speed of the target vehicle, the target vehicle can safely move into the second lane.

[0082] Furthermore, the aforementioned conditions for changing lanes to the right may include at least one of the following: no obstacles between the vehicle's current lane and the first lane; the length of the first lane is greater than the target length; and the curvature of both the vehicle's current lane and the first lane is less than a preset curvature. Here, "no obstacles between the vehicle's current lane and the first lane" can be understood as the absence of curbs, fences, or other obstacles between them; the target length is the product of the target vehicle's speed and a preset duration; the length of the first lane being greater than the target length ensures that the vehicle can change into the first lane; and the curvature of both the vehicle's current lane and the first lane being less than the preset curvature ensures that the curvature of both lanes is sufficiently small.

[0083] The aforementioned conditions for changing lanes to the left can include: the nearest lane line to the left of the vehicle is not a preset lane line type; there are no obstacles between the vehicle's current lane and the second lane; the length of the second lane is greater than the target length; and the curvature of both the vehicle's current lane and the second lane is less than at least one of the preset curvatures. The preset lane line types can include double solid yellow lines, single solid yellow lines, dashed lines, and solid white lines, etc., all of which are prohibited from being crossed according to traffic laws. "No obstacles between the vehicle's current lane and the second lane" can be understood as the absence of curbs, fences, or other obstacles between the two lanes. The target length is the product of the target vehicle's speed and a preset duration; a second lane length greater than the target length ensures the vehicle can move into the second lane. The curvature of both the vehicle's current lane and the second lane being less than the preset curvature ensures that the curvature of both lanes is sufficiently small.

[0084] Based on the description of the above embodiments, Figure 4 This is a schematic diagram illustrating an emergency lane-changing decision for a vehicle according to an exemplary embodiment. In this embodiment, the aforementioned right lane-changing condition and preset lane-changing condition are considered as the first condition to be met for right lane changing, and the aforementioned left lane-changing condition and preset lane-changing condition are considered as the second condition to be met for left lane changing. Figure 4 As shown, the process includes the following:

[0085] First, after the automatic emergency steering function is triggered, it is determined whether the vehicle is traveling in the wrong direction;

[0086] Then, if the vehicle is traveling in the wrong direction, it is determined whether the first condition for changing lanes to the right is met. If it is met, a decision to change lanes to the right is generated; if it is not met, a decision not to change lanes is generated.

[0087] Additionally, if the vehicle is not traveling in the wrong direction, it first checks whether the first condition for changing lanes to the right is met. If it is met, a decision to change lanes to the right is generated. If it is not met, it continues to check whether the second condition for changing lanes to the left is met. If it is met, a decision to change lanes to the left is generated. If it is not met, a decision not to change lanes is generated.

[0088] Finally, the generated decision is provided to the trajectory planning module for planning the driving trajectory.

[0089] Corresponding to the aforementioned embodiments of the vehicle emergency steering control method, this application also provides embodiments of a vehicle emergency steering control device.

[0090] Figure 5 This is a schematic diagram illustrating the structure of a vehicle emergency steering control device according to an exemplary embodiment. This device is used to execute the vehicle emergency steering control method provided in any of the above embodiments, such as... Figure 5 As shown, the vehicle's emergency steering control device includes:

[0091] The acquisition module 510 is used to acquire the driving status of the target vehicle, wherein the driving status is used to indicate whether the target vehicle is driving in the wrong direction;

[0092] The filtering module 520 is used to filter lanes on both sides of the vehicle's current lane as emergency turning avoidance lanes based on the driving status and the environmental information perceived by the target vehicle.

[0093] The control module 530 is used to control the driving trajectory of the target vehicle according to the selected avoidance lane.

[0094] In one optional implementation, the filtering module 520 is specifically used to filter the first lane adjacent to the right side of the vehicle's current lane as a yielding lane when the driving state indicates reverse driving; and to filter the first lane adjacent to the right side of the vehicle's current lane or the second lane adjacent to the left side of the vehicle's current lane as a yielding lane when the driving state indicates normal driving.

[0095] In an optional implementation, the filtering module 520 is specifically used to, during the process of filtering the first lane adjacent to the right side of the vehicle's current lane as a yielding lane based on the environmental information, if the target vehicle meets the right lane change conditions, filter obstacles on the first lane and the third lane adjacent to the right side of the first lane based on the environmental information; the right lane change conditions are used to represent the road attribute conditions that the first lane needs to have; if the obstacle filtering results on the first lane and the third lane meet the preset lane change conditions, the first lane is used as a yielding lane.

[0096] In an optional implementation, the filtering module 520 is specifically used to, during the process of filtering the first lane adjacent to the right side of the vehicle's current lane or the second lane adjacent to the left side of the vehicle's current lane as a yielding lane based on the environmental information, if it is determined that the target vehicle meets the right lane change conditions, filter obstacles in the first lane and the third lane adjacent to the right side of the first lane based on the environmental information; if the obstacle filtering results in the first lane and the third lane meet the preset lane change conditions, designate the first lane as a yielding lane; if the target vehicle does not meet the right lane change conditions or the obstacle filtering results in the first lane and the third lane do not meet the preset lane change conditions, determine whether the target vehicle meets the left lane change conditions; if the left lane change conditions are met, filter obstacles in the second lane and the fourth lane adjacent to the left side of the second lane based on the environmental information; if the obstacle filtering results in the second lane and the fourth lane meet the preset lane change conditions, designate the second lane as a yielding lane; the left lane change conditions are used to indicate the road attribute conditions that the second lane needs to have.

[0097] In one optional implementation, the preset lane-changing condition includes any one of the following: no obstacle is detected, an obstacle is detected and the obstacle is located behind the target vehicle and the speed of the obstacle is lower than the speed of the target vehicle.

[0098] In one optional implementation, the right lane change conditions include at least one of the following: there are no obstacles between the vehicle's current lane and the first lane; the length of the first lane is greater than the target length; and the curvature of both the vehicle's current lane and the first lane is less than a preset curvature.

[0099] The conditions for changing lanes to the left include at least one of the following: the nearest lane line to the left of the vehicle is not a preset lane line type, there are no obstacles between the vehicle's current lane and the second lane, the length of the second lane is greater than the target length, and the curvature of both the vehicle's current lane and the second lane is less than a preset curvature.

[0100] The target length is the product of the target vehicle's speed and the preset duration.

[0101] In an optional implementation, the acquisition module 510 is specifically used to acquire lane line information perceived by the target vehicle when the target vehicle meets the automatic emergency steering conditions; the automatic emergency steering conditions represent the conditions for the target vehicle to perform an emergency lane change; and determine the driving state of the target vehicle based on the lane line information and the driving direction of the target vehicle.

[0102] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0103] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0104] This application also provides an electronic device corresponding to the vehicle emergency steering control method provided in the foregoing embodiments, for executing the vehicle emergency steering control method described above.

[0105] Figure 6 The present invention illustrates a hardware structure diagram of an electronic device according to an exemplary embodiment. The electronic device includes a communication interface 601, a processor 602, a memory 603, and a bus 604. The communication interface 601, processor 602, and memory 603 communicate with each other via the bus 604. The processor 602 can execute the vehicle emergency steering control method described above by reading and executing machine-executable instructions corresponding to the control logic of the vehicle emergency steering control method stored in the memory 603. The specific content of this method is described in the above embodiment and will not be repeated here.

[0106] The memory 603 mentioned in this application can be any electronic, magnetic, optical, or other physical storage device, and can contain stored information such as executable instructions, data, etc. Specifically, the memory 603 can be RAM (Random Access Memory), flash memory, storage drive (such as hard disk drive), any type of storage disk (such as optical disc, DVD, etc.), or similar storage media, or combinations thereof. Communication between this system network element and at least one other network element is achieved through at least one communication interface 601 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc., can be used.

[0107] Bus 604 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory 603 is used to store programs, and the processor 602 executes the programs after receiving execution instructions.

[0108] Processor 602 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 602 or by instructions in software form. The processor 602 can be a general-purpose processor, including a network processor (NP), digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor.

[0109] The electronic device provided in this application embodiment and the vehicle emergency steering control method provided in this application embodiment are based on the same inventive concept and have the same beneficial effects as the methods they adopt, operate or implement.

[0110] This application also provides a computer-readable storage medium corresponding to the vehicle emergency steering control method provided in the foregoing embodiments. Please refer to... Figure 7 As shown, the computer-readable storage medium shown is an optical disc 30, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it executes the vehicle emergency steering control method provided in any of the foregoing embodiments.

[0111] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be elaborated here.

[0112] The computer-readable storage medium provided in the above embodiments of this application and the vehicle emergency steering control method provided in the embodiments of this application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application stored therein.

[0113] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0114] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0115] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A vehicle emergency steering control method, characterized in that, The method includes: The driving status of the target vehicle is obtained, and the driving status is used to indicate whether the target vehicle is driving in the wrong direction; Based on the driving status and the environmental information perceived by the target vehicle, lanes on both sides of the vehicle's current lane are selected as emergency turning avoidance lanes. The target vehicle's trajectory is controlled based on the selected avoidance lane.

2. The method according to claim 1, characterized in that, The step of selecting lanes for emergency steering from both sides of the vehicle's current lane based on the driving state and the environmental information perceived by the target vehicle includes: When the driving state indicates reverse driving, the first lane adjacent to the right side of the vehicle's current lane is selected as the yielding lane based on the environmental information; When the driving state indicates normal driving, the first lane adjacent to the right side of the vehicle's current lane or the second lane adjacent to the left side of the vehicle's current lane is selected as the yield lane based on the environmental information.

3. The method according to claim 2, characterized in that, The step of selecting the first lane adjacent to the right side of the vehicle's current lane as the yield lane based on the environmental information includes: If the target vehicle meets the right lane change condition, obstacles in the first lane and the third lane adjacent to the right side of the first lane are filtered according to the environmental information; the right lane change condition is used to indicate the road attribute conditions that the first lane needs to have. If the obstacle screening results in the first lane and the third lane meet the preset lane change conditions, the first lane will be used as the avoidance lane.

4. The method according to claim 2, characterized in that, The step of selecting either the first lane adjacent to the right side of the vehicle's current lane or the second lane adjacent to the left side of the vehicle's current lane as a yielding lane based on the environmental information includes: If the target vehicle meets the right lane change conditions, obstacles in the first lane and the third lane adjacent to the right of the first lane are screened according to the environmental information. If the obstacle screening results in the first lane and the third lane meet the preset lane change conditions, the first lane is used as the yield lane. If the target vehicle does not meet the right lane change conditions or the obstacle screening results on the first and third lanes do not meet the preset lane change conditions, determine whether the target vehicle meets the left lane change conditions. When the left lane change condition is met, obstacles in the second lane and the fourth lane adjacent to the left of the second lane are screened according to the environmental information. If the obstacle screening results in the second lane and the fourth lane meet the preset lane change conditions, the second lane is used as the yield lane. The left lane change condition is used to indicate the road attribute conditions that the second lane needs to have.

5. The method according to claim 3 or 4, characterized in that, The preset lane change conditions include any one of the following: No obstacle was detected; an obstacle was detected and it was located behind the target vehicle and its speed was lower than that of the target vehicle.

6. The method according to claim 4, characterized in that, The conditions for changing lanes to the right include at least one of the following: there are no obstacles between the vehicle's current lane and the first lane; the length of the first lane is greater than the target length; and the curvature of both the vehicle's current lane and the first lane is less than a preset curvature. The conditions for changing lanes to the left include at least one of the following: the nearest lane line to the left of the vehicle is not a preset lane line type, there are no obstacles between the vehicle's current lane and the second lane, the length of the second lane is greater than the target length, and the curvature of both the vehicle's current lane and the second lane is less than a preset curvature. The target length is the product of the target vehicle's speed and the preset duration.

7. The method according to claim 1, characterized in that, The acquisition of the target vehicle's driving status includes: When the target vehicle meets the automatic emergency steering conditions, the lane line information perceived by the target vehicle is acquired; the automatic emergency steering conditions refer to the conditions used to enable the target vehicle to perform an emergency lane change. The driving status of the target vehicle is determined based on the lane line information and the driving direction of the target vehicle.

8. A vehicle emergency steering control device, characterized in that, The device includes: The acquisition module is used to acquire the driving status of the target vehicle, wherein the driving status is used to indicate whether the target vehicle is driving in the wrong direction; The filtering module is used to filter lanes on both sides of the vehicle's current lane as emergency turning avoidance lanes based on the driving status and the environmental information perceived by the target vehicle. The control module is used to control the driving trajectory of the target vehicle based on the selected avoidance lane.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the program to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by a processor to implement the method as described in any one of claims 1-7.

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