A vehicle control method, a vehicle, and a storage medium

Abstract

The application provides a vehicle control method, a vehicle and a storage medium. The method is applied to a first vehicle and includes the following steps. When the distance between the first vehicle and a second vehicle is less than or equal to a preset distance threshold, an initial influence area of the first vehicle is determined according to the motion state of the first vehicle at the current moment, an external environment and an initial driving strategy. The initial influence area of the second vehicle sent by the second vehicle is received, and a region corresponding to the initial influence area of the first vehicle and the initial influence area of the second vehicle is calculated to obtain a first overlapping region. A target driving strategy of the first vehicle at the current moment is determined according to the first overlapping region. The first vehicle is driven according to the target driving strategy of the first vehicle at the current moment. In the embodiment of the application, the initial influence area of other vehicles is obtained through vehicle-to-vehicle communication, and then a driving strategy that is more matched to an actual traffic scene is determined in combination with the initial influence areas of the two vehicles. The driving efficiency is improved, and the safety hidden danger is reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle control method, a vehicle, and a storage medium. Background Technology

[0002] With the development of vehicle-related technologies, autonomous driving technology has been widely applied to various types of vehicles, including electric vehicles and hybrid vehicles. Specifically, vehicles using autonomous driving technology can achieve better autonomous driving tasks on structured roads (such as highways and urban elevated roads) through steps such as environmental perception, driving strategy decision-making, and vehicle motion control, significantly improving the user experience. Among these, determining the driving strategy is the core of autonomous driving, directly affecting the vehicle's driving efficiency and safety in various traffic scenarios.

[0003] Understandably, in practical applications, vehicles typically need to flexibly adjust their driving strategies based on their own motion state and the external environment to adapt to changing traffic scenarios. For example, driving strategies may include, but are not limited to, acceleration, deceleration, increasing steering angle, decreasing steering angle, and lane changing. In traffic scenarios involving other vehicles, related technologies often predict the motion of other vehicles and combine this prediction information to determine the vehicle's driving strategy, avoiding driving conflicts and ensuring driving safety.

[0004] In the process of developing this application, the inventors discovered that the related technology has at least the following problems: the predicted information may not accurately reflect the actual driving intentions of other vehicles, that is, the actual driving strategies of other vehicles; therefore, the driving strategy determined by combining the predicted information may have a poor match with the actual traffic scenario. For example, the lack of information about other vehicles may lead to conservative driving strategy decisions, reducing driving efficiency, or the incorrect prediction of information about other vehicles may lead to risky driving strategy decisions, posing safety hazards.

[0005] It should be noted that the information disclosed in the background section of this application is intended only to enhance the understanding of the general background of this application, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] This application provides a vehicle control method, a vehicle, and a storage medium, which helps to solve the problem that the driving strategy determined by the vehicle is poorly matched with the actual traffic scenario due to the fact that the predicted information cannot accurately reflect the driving strategies of other vehicles, thus affecting driving efficiency and posing safety hazards.

[0007] In a first aspect, embodiments of this application provide a vehicle control method applied to a first vehicle, comprising: When the distance between the first vehicle and the second vehicle is less than or equal to a preset distance threshold, the initial influence area of ​​the first vehicle is determined based on the current motion state of the first vehicle, the external environment, and the initial driving strategy. Receive the initial influence area of ​​the second vehicle sent by the second vehicle, and calculate the area that corresponds to the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle to obtain the first overlapping area; Based on the first overlapping area, and based on the overlapping area between the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle, the driving of the first vehicle is controlled. The initial influence area of ​​the second vehicle corresponds to the initial driving strategy of the second vehicle at the current moment.

[0008] In this embodiment, the vehicle receives the initial influence area sent by the second vehicle, which corresponds to the initial driving strategy of the second vehicle at the current moment, through vehicle-to-vehicle communication. The initial influence areas of the first vehicle and the other vehicle (second vehicle) can respectively characterize the motion state, external environment and driving strategy of each vehicle. Furthermore, by combining the initial influence areas of the two vehicles, a target driving strategy that is more compatible with the actual traffic scenario is determined, and then the vehicle driving is controlled according to the target driving strategy to improve driving efficiency and reduce safety hazards.

[0009] In some possible implementations, determining the target driving strategy of the first vehicle at the current moment based on the first overlapping region includes: Based on the first overlapping area, determine the candidate driving strategy for the first vehicle at the current moment; Based on the current motion state of the first vehicle, the external environment, and the candidate driving strategy, the predicted influence area of ​​the first vehicle is determined. Based on the predicted influence area of ​​the first vehicle and the corresponding influence area of ​​the second vehicle, the target driving strategy of the first vehicle at the current moment is determined.

[0010] In this embodiment, the candidate driving strategy for the first vehicle at the current moment can be determined based on the overlapping area between the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle. Then, the influence area of ​​the candidate driving strategy is calculated and conflict verification is performed to determine the target driving strategy. This allows the determined target driving strategy to effectively reduce the risk of driving conflict between the two vehicles and further improve the reliability and rationality of the driving strategy decision.

[0011] In some possible implementations, determining the target driving strategy of the first vehicle at the current moment based on the predicted influence area of ​​the first vehicle and the corresponding influence area of ​​the second vehicle includes: Calculate the area that corresponds to both the predicted influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle to obtain the second overlapping area; If the area of ​​the second overlapping region is less than a preset area threshold, then the candidate driving strategy of the first vehicle at the current moment is determined to be the target driving strategy of the first vehicle at the current moment.

[0012] In this embodiment, the area of ​​the overlapping area between the predicted influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle is compared with a preset area threshold to determine whether the candidate driving strategy meets the requirements. The candidate driving strategy that meets the requirements is used as the target driving strategy for controlling the driving of the first vehicle, thereby improving driving safety.

[0013] In some possible implementations, determining the target driving strategy of the first vehicle at the current moment based on the predicted influence area of ​​the first vehicle and the corresponding influence area of ​​the second vehicle includes: Receive the predicted influence area of ​​the second vehicle sent by the second vehicle, and the predicted influence area of ​​the second vehicle corresponds to the candidate driving strategy of the second vehicle at the current moment; Calculate the area that corresponds to both the predicted influence area of ​​the first vehicle and the predicted influence area of ​​the second vehicle to obtain the third overlapping area; If the area of ​​the third overlapping region is less than a preset area threshold, a negotiation signal is sent to the second vehicle. The negotiation signal is used to suggest that the second vehicle control the second vehicle to drive according to the second vehicle's current driving strategy. The system receives a negotiation confirmation signal sent by the second vehicle and determines the target driving strategy of the first vehicle at the current moment based on the negotiation confirmation signal. The negotiation confirmation signal is used to indicate whether the second vehicle adopts the suggestion of the negotiation signal.

[0014] In this embodiment, by having the first vehicle and the second vehicle interact and negotiate their respective predicted influence areas, the driving strategies of the two vehicles can be coordinated and adjusted. This allows for a more reasonable adjustment of the driving strategies of the two vehicles while ensuring driving safety, thereby further improving traffic efficiency in multi-vehicle interaction scenarios.

[0015] In some possible implementations, determining the target driving strategy of the first vehicle at the current moment based on the negotiation confirmation signal includes: If it is determined that the second vehicle adopts the suggestion of the negotiated signal, then the candidate driving strategy of the first vehicle at the current moment is determined to be the target driving strategy of the first vehicle at the current moment.

[0016] In this embodiment of the application, if it is determined that the second vehicle adopts the suggestion of the negotiation signal, it can be considered that the second vehicle takes the candidate driving strategy as the target driving strategy at the current moment, and thereby controls the driving of the second vehicle; the two vehicles drive according to their respective target driving strategies, which can improve driving efficiency and driving safety.

[0017] In some possible implementations, both the first vehicle and the second vehicle are communicatively connected to the control device, and determining the target driving strategy of the first vehicle at the current moment based on the negotiation confirmation signal includes: If it is determined that the second vehicle does not adopt the suggestion of the negotiation signal, then the cooperative driving strategy of the first vehicle at the current moment is received from the control device, and the cooperative driving strategy of the first vehicle is determined to be the target driving strategy of the first vehicle at the current moment. The control device is configured to receive the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle; and determine the cooperative driving strategy of the first vehicle and the cooperative driving strategy of the second vehicle at the current moment based on the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle; and send the cooperative driving strategy of the first vehicle and the cooperative driving strategy of the second vehicle at the current moment to the first vehicle and the second vehicle respectively.

[0018] In this embodiment, when the two vehicles cannot reach an agreement, the control device makes the decision, which avoids the decision delay caused by repeated negotiations and adjustments between the two vehicles, and ensures decision-making efficiency and traffic order in complex interaction scenarios. At the same time, the cooperative driving strategy generated by the control device can take into account both the traffic needs of the two vehicles and the overall traffic efficiency of the road, making the adjustment of the driving strategies of the two vehicles more fair and reasonable, and reducing the cost of disagreements in the autonomous negotiation between the two vehicles.

[0019] In some possible implementations, before receiving the predicted influence area of ​​the second vehicle sent by the second vehicle, the method further includes: Send the initial area of ​​influence of the first vehicle to the second vehicle; The second vehicle is used to calculate the area that corresponds to the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle to obtain the first overlapping area; based on the first overlapping area, the candidate driving strategy of the second vehicle at the current moment is determined.

[0020] In this embodiment of the application, through vehicle-to-vehicle communication, both vehicles generate candidate driving strategies and predicted influence areas based on their own initial influence areas and those of other vehicles. This allows the driving strategy adjustments of both vehicles to be based on the other's actual initial driving plan, thereby improving the efficiency of subsequent driving strategy negotiation.

[0021] In some possible implementations, determining the target driving strategy of the first vehicle at the current moment based on the first overlapping region includes: If the area of ​​the first overlapping region is less than a preset area threshold, then the initial driving strategy of the first vehicle at the current moment is determined to be the target driving strategy of the first vehicle at the current moment. If the area of ​​the first overlapping region is greater than or equal to a preset area threshold, then the target driving strategy of the first vehicle at the current moment is determined based on the overlapping area between the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle.

[0022] In this embodiment, by comparing the area of ​​the overlapping region of the initial influence areas of the two vehicles with a preset area threshold, the probability of a conflict between the first vehicle and the second vehicle is determined. Then, if the probability of a conflict is high, the target driving strategy of the first vehicle is determined according to the actual situation. If the probability of a conflict is high, the initial driving strategy is not maintained, which can reduce the amount of data processing in the system and save the system's performance overhead.

[0023] Secondly, embodiments of this application provide a vehicle, including: A controller configured to perform the method described in any one of the first aspects.

[0024] Thirdly, embodiments of this application provide a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the method described in any one of the first aspects. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A schematic diagram illustrating an application scenario provided in an embodiment of this application; Figure 2 A schematic flowchart of a vehicle control method provided in an embodiment of this application; Figure 3 A schematic diagram of a first affected area provided in an embodiment of this application; Figure 4 A schematic flowchart illustrating another vehicle control method provided in an embodiment of this application; Figure 5A schematic flowchart illustrating another vehicle control method provided in an embodiment of this application; Figure 6 A schematic diagram of an affected area provided in an embodiment of this application; Figure 7 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0027] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0028] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0029] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0030] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0031] With the development of vehicle-related technologies, autonomous driving technology has been widely applied to various types of vehicles, including electric vehicles and hybrid vehicles. Specifically, vehicles using autonomous driving technology can achieve better autonomous driving tasks on structured roads (such as highways and urban elevated roads) through steps such as environmental perception, driving strategy decision-making, and vehicle motion control, significantly improving the user experience. Among these, determining the driving strategy is the core of autonomous driving, directly affecting the vehicle's driving efficiency and safety in various traffic scenarios.

[0032] Understandably, in practical applications, vehicles typically need to flexibly adjust their driving strategies based on their own motion state and the external environment to adapt to changing traffic scenarios. For example, driving strategies may include, but are not limited to, acceleration, deceleration, increasing steering angle, decreasing steering angle, and lane changing. In traffic scenarios involving other vehicles, related technologies often predict the motion of other vehicles and combine this prediction information to determine the vehicle's driving strategy, avoiding driving conflicts and ensuring driving safety.

[0033] For example, see Figure 1 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application, such as... Figure 1 As shown in the diagram, this application scenario illustrates a crossroads traffic situation where, in addition to vehicle C1, there is another vehicle C2. In this scenario, vehicle C1's current driving strategy is to turn left through the intersection. Simultaneously, the movement of other vehicle C2 is predicted, obtaining prediction information indicating that other vehicle C2 will continue straight through the intersection. Based on this prediction information, vehicle C1 determines its driving strategy to decelerate and turn left through the intersection to avoid a driving conflict.

[0034] In the process of developing this application, the inventors discovered that the related technology has at least the following problems: the predicted information may not accurately reflect the actual driving intentions of other vehicles, i.e., the driving strategies of other vehicles; therefore, the driving strategy determined by combining the predicted information may have a poor match with the actual traffic scenario. For example, the lack of information about other vehicles may lead to conservative driving strategy decisions, reducing driving efficiency, or the incorrect prediction of information about other vehicles may lead to risky driving strategy decisions, posing safety hazards.

[0035] For example, such as Figure 1 As shown, the actual driving strategy of other vehicle C2 might be to decelerate and proceed straight through the intersection. However, due to inaccurate perception or loss of perception information processing, the predicted information might lack the detail that other vehicle C2 is decelerating. This could lead to a conservative driving strategy decision, reducing driving efficiency. For example, a vehicle could have turned left at 12 km / h and passed through the intersection, but due to the missing information about C2 decelerating, the determined driving strategy might be to turn left at 9 km / h, thus reducing driving efficiency.

[0036] For example, such as Figure 1 As shown, the actual driving strategy of other vehicle C2 may be to turn left through the intersection. However, due to inaccurate perception or other possible reasons, the predicted information is that other vehicle C2 should go straight through the intersection. Making a driving strategy decision based on this information may lead to potential safety hazards.

[0037] In view of this, the embodiments of this application provide a vehicle control method, which helps to solve the problem that the driving strategy determined by the vehicle is poorly matched with the actual traffic scenario due to the fact that the predicted information cannot accurately reflect the driving strategies of other vehicles, thus affecting driving efficiency and posing safety hazards.

[0038] In this embodiment, the initial influence area corresponding to the initial driving strategy of the second vehicle at the current moment is received via vehicle-to-vehicle communication. The initial influence areas of the first vehicle and the other vehicle (second vehicle) can respectively characterize the motion state, external environment, and driving strategy of each vehicle. Furthermore, by combining the initial influence areas of the two vehicles, a target driving strategy that better matches the actual traffic scenario is determined, and then the vehicle driving is controlled according to the target driving strategy to improve driving efficiency and reduce safety hazards. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0039] See Figure 2 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application. The vehicle control method is applied to a first vehicle and is applicable to applications such as... Figure 1 The application scenarios shown are as follows: Figure 2 As shown, the method specifically includes the following steps.

[0040] S201: When the distance between the first vehicle and the second vehicle is less than or equal to a preset distance threshold, the initial influence area of ​​the first vehicle is determined based on the current motion state of the first vehicle, the external environment, and the initial driving strategy.

[0041] In this embodiment, when the triggering condition is met, the current influence area of ​​the first vehicle, i.e., the initial influence area, is generated based on the current motion state of the first vehicle, the external environment, and the initial driving strategy. In other words, the initial influence area of ​​the first vehicle corresponds to the initial driving strategy of the first vehicle at the current moment and can be used as the basis for subsequently determining the driving strategy.

[0042] Specifically, a preset distance threshold can be set as a trigger condition. When the distance between the first vehicle and the second vehicle is less than or equal to the preset distance threshold, the second vehicle can be considered a vehicle that may have a potential driving conflict risk with the first vehicle. In other words, the preset distance threshold can be used to identify other vehicles that have a potential driving conflict risk with the first vehicle; avoid invalid processing of vehicles that are far away and have no driving conflict risk, and reduce the computational load on the first vehicle.

[0043] Those skilled in the art can set a preset distance threshold according to actual needs. For example, it can be set according to the sensing range of the sensing module of the first vehicle; or it can be set according to factors such as the current driving speed of the first vehicle, road type, and traffic congestion level. The embodiments of this application do not impose absolute restrictions on the specific value of the preset distance threshold.

[0044] Provided that the distance between the first vehicle and the second vehicle is less than or equal to a preset distance threshold, the first vehicle can determine its initial influence area based on its current motion state, external environment, and initial driving strategy.

[0045] The motion state of the first vehicle at the current moment typically refers to the set of kinematic parameters of the first vehicle at the current moment. For example, the motion state may include, but is not limited to, parameters such as the first vehicle's current speed, current acceleration, current steering angle, current lane position, and current vehicle attitude.

[0046] The external environment of the first vehicle at the current moment typically includes information about the traffic scenario in which the first vehicle is located. This information can be used to provide environmental constraints, ensuring that the subsequently determined initial area of ​​influence and driving strategy conform to road rules and actual traffic scenario limitations. Specifically, the external environment may include, but is not limited to, road lane line information, road curvature information, road speed limit information, traffic light status, surrounding obstacle information, and lane passage attribute information.

[0047] Furthermore, based on the current motion state of the first vehicle, the external environment, and the initial driving strategy, the initial influence area of ​​the first vehicle is determined. Therefore, the initial driving strategy of the first vehicle at the current moment is typically used to characterize the original driving intention of the first vehicle at the current moment. In the embodiments of this application, the initial influence area of ​​the first vehicle is typically a planar region including the first vehicle, and usually includes attributes such as size and shape. Specifically, the initial influence area can be characterized in various forms such as polygonal regions and grid map regions.

[0048] In some possible implementations, the shape of the initial influence area is determined according to the initial driving strategy of the first vehicle, the size of the initial influence area is determined according to the motion state of the first vehicle, and the boundary of the initial influence area is determined according to the first vehicle.

[0049] For example, when the initial driving strategy of the first vehicle is to keep going straight, it is usually necessary to focus on the area in front of the vehicle, the sides of the vehicle, and the area behind the vehicle. Therefore, the shape of the initial influence area is set to an ellipse. When the driving strategy of the vehicle is to turn left, it is usually necessary to focus on the fan-shaped area in front of the vehicle. Therefore, the shape of the initial influence area is set to a fan shape.

[0050] Furthermore, when the speed or acceleration of the first vehicle is large, a larger initial influence area is usually set. That is, the size of the initial influence area of ​​the first vehicle is positively correlated with the speed or acceleration of the first vehicle. Furthermore, the boundary of the initial influence area can be determined based on the road lane information and surrounding obstacle information of the first vehicle, etc., as an environmental constraint.

[0051] Of course, the above method for determining the initial influence area is only one possible implementation. In other possible implementations, the shape of the initial influence area of ​​the first vehicle is determined based on the current motion state of the first vehicle, the external environment, and the initial driving strategy; the size of the initial influence area of ​​the first vehicle is determined based on the current motion state of the first vehicle, the external environment, and the initial driving strategy; the boundary of the initial influence area of ​​the first vehicle is determined based on the current motion state of the first vehicle, the external environment, and the initial driving strategy; and the initial influence area is determined based on its shape, size, and boundary.

[0052] It is understood that, in the embodiments of this application, the shape, size and boundary of the initial influence area are determined by a combination of multiple inputs, which can more flexibly and accurately characterize the area that the first vehicle needs to pay attention to at the current moment and that may cause influence.

[0053] Specifically, those skilled in the art can set specific methods for determining the influence region according to actual needs. For example, the input can be mapped to the influence region by setting mapping rules; or the input can be used as a constraint condition input to a pre-trained generative model to determine the influence region. This application does not impose specific limitations on the specific methods for determining the influence region.

[0054] S202: Receive the initial influence area of ​​the second vehicle sent by the second vehicle, and calculate the area that corresponds to the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle, to obtain the first overlapping area.

[0055] After obtaining the initial influence area of ​​the first vehicle, the first vehicle can further obtain the initial influence area of ​​the second vehicle, and calculate the area that corresponds to the common area of ​​the initial influence areas of the two vehicles to obtain the first overlapping area. Among them, the initial influence area of ​​the second vehicle corresponds to the initial driving strategy of the second vehicle at the current moment.

[0056] In this embodiment, the first vehicle and the second vehicle are communicatively connected. The second vehicle can send its initial influence area to the first vehicle, and the first vehicle receives the initial influence area sent by the second vehicle. Specifically, vehicle-to-everything (V2X) communication technology can be used to achieve vehicle-to-vehicle communication. Of course, those skilled in the art can also choose other methods to achieve vehicle-to-vehicle communication according to the actual situation. At the same time, the data format of the transmitted initial influence area of ​​the second vehicle can also be adapted and defined according to the actual communication protocol. This embodiment does not impose absolute limitations on this.

[0057] In this embodiment, the generation logic of the initial influence area of ​​the second vehicle is generally consistent with that of the first vehicle; that is, the second vehicle's initial influence area is also calculated based on its current motion state, external environment, and initial driving strategy. Therefore, the initial influence area of ​​the second vehicle corresponds to its current initial driving strategy, accurately reflecting its original driving intention and the area it may influence. Compared to the motion information obtained by the first vehicle predicting the second vehicle's motion, the received initial influence area data of the second vehicle has higher accuracy and certainty, effectively avoiding prediction bias.

[0058] It is understandable that after the first vehicle obtains its initial influence area and the second vehicle's initial influence area respectively, the area corresponding to both initial influence areas of the first vehicle and the second vehicle can be calculated to obtain the first overlapping area. It is understandable that the first overlapping area can be used to characterize the area where a conflict might occur when the two vehicles are driving according to their respective initial driving strategies.

[0059] For example, see Figure 3 This is a schematic diagram of a first affected area provided in an embodiment of this application, such as... Figure 3 As shown, the first vehicle C1 determines its initial influence area as region A1 based on its current motion state, external environment, and initial driving strategy; the second vehicle C2 determines its initial influence area as region A2 based on its current motion state, external environment, and initial driving strategy; the first vehicle C1 receives the initial influence area A2 of the second vehicle sent by the second vehicle C2, and can calculate the area that corresponds to both region A1 and region A2 to obtain the first overlapping area as region A3.

[0060] S203: Determine the target driving strategy of the first vehicle at the current moment based on the first overlapping area.

[0061] It is understandable that the first overlapping region can be used to determine the target driving strategy of the first vehicle. Specifically, there are multiple ways to determine the target driving strategy of the first vehicle based on the first overlapping region.

[0062] For example, the initial driving strategy can be adjusted based on characteristics such as the shape, position, and size of the first overlapping area, such as adjusting the driving speed, driving path, or lane change timing. The adjusted driving strategy is then determined as the target driving strategy to eliminate or reduce the overlapping area and lower the risk of driving conflicts.

[0063] Of course, those skilled in the art can also adopt other implementation methods according to actual needs; for example, the adjustment priorities of the first vehicle and the second vehicle can be determined separately. For example, the adjustment priority of the vehicle without right-of-way is higher. Then, the target driving strategy of the first vehicle can be determined by combining the first overlapping area and the adjustment priorities of the two vehicles.

[0064] In practical applications, making ineffective driving strategy decisions when the probability of a collision between the two vehicles is low can lead to increased data processing volume and performance overhead. Therefore, it is also advisable to first determine whether the initial driving strategy needs to be adjusted based on the overlap between the initial influence areas of the two vehicles.

[0065] In some possible implementations, if the area of ​​the first overlapping region is less than a preset area threshold, then the initial driving strategy of the first vehicle at the current moment is determined as the target driving strategy of the first vehicle at the current moment; if the area of ​​the first overlapping region is greater than or equal to the preset area threshold, then the target driving strategy of the first vehicle at the current moment is determined based on the overlapping area between the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle.

[0066] It is understandable that if the area of ​​the first overlapping region is less than the preset area threshold, it can be considered that if the first vehicle and the second vehicle drive according to their respective initial driving strategies, the possibility of conflict is small. In this case, no additional processing is required, and the initial driving strategy can be maintained. That is, the initial driving strategy of the first vehicle at the current moment is determined as the target driving strategy of the first vehicle at the current moment.

[0067] If the area of ​​the first overlapping region is greater than or equal to the preset area threshold, it can be considered that if the first vehicle and the second vehicle drive according to their respective initial driving strategies, there is a high probability of conflict. In this case, it is necessary to determine the target driving strategy of the first vehicle based on the actual situation.

[0068] Of course, those skilled in the art can set the size of the preset area threshold according to actual needs. The specific value of the preset area threshold is not absolutely limited in the embodiments of this application.

[0069] In this embodiment, by comparing the area of ​​the overlapping region of the initial influence areas of the two vehicles with a preset area threshold, the probability of a conflict between the first vehicle and the second vehicle is determined. Then, if the probability of a conflict is high, the target driving strategy of the first vehicle is determined according to the actual situation. If the probability of a conflict is high, the initial driving strategy is not maintained, which can reduce the amount of data processing in the system and save the system's performance overhead.

[0070] S204: Control the movement of the first vehicle according to the target driving strategy of the first vehicle at the current moment.

[0071] It is understandable that after determining the target driving strategy of the first vehicle at the current moment, a corresponding control command can be determined and output based on the target driving strategy of the first vehicle at the current moment, so as to control the first vehicle to drive according to the target driving strategy. In the embodiment of this application, by combining the initial influence areas of the two vehicles, a target driving strategy that is more in line with the actual traffic scenario is determined, and then the vehicle driving is controlled according to the target driving strategy, thereby improving driving efficiency and reducing safety hazards.

[0072] As mentioned above, those skilled in the art can also use other methods according to actual needs to determine the target driving strategy of the first vehicle at the current moment based on the overlapping area between the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle. In the embodiments of this application, the candidate driving strategy of the first vehicle at the current moment can be determined first based on the overlapping area between the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle. Then, the influence area of ​​the candidate driving strategy is calculated and conflict verification is performed to determine the target driving strategy. This allows the determined target driving strategy to effectively reduce the risk of driving conflict between the two vehicles and further improve the reliability and rationality of the driving strategy decision.

[0073] See Figure 4 This is a flowchart illustrating another vehicle control method provided in an embodiment of this application, as shown below. Figure 4 As shown, in Figure 2 Based on the method shown, step S203 specifically includes the following steps.

[0074] S2031: Based on the first overlapping area, determine the candidate driving strategy for the first vehicle at the current moment.

[0075] In this embodiment, the candidate driving strategy is typically a driving strategy obtained by adjusting the initial driving strategy with the goal of reducing or eliminating the first overlapping region. For example, the first vehicle can first extract relevant feature parameters of the first overlapping region, such as the area and relative position of the first overlapping region; then, based on these features, determine the adjustment direction and magnitude of the initial driving strategy, thereby determining the candidate driving strategy. Alternatively, the candidate driving strategy corresponding to the first overlapping region can be determined through a preset mapping relationship between the first overlapping region and the candidate driving strategy.

[0076] It is understood that the number of candidate driving strategies can be one set or multiple sets; when multiple sets of candidate driving strategies are determined, each set of candidate driving strategies can be a different driving strategy. This application does not impose absolute limitations on the specific method of determining the candidate driving strategies or the number generated.

[0077] S2032: Determine the predicted influence area of ​​the first vehicle based on the current motion state of the first vehicle, the external environment, and the candidate driving strategy.

[0078] Similar to the initial influence area, the predicted influence area corresponding to the selected driving strategy can be determined based on the current motion state of the first vehicle, the external environment, and the selected driving strategy. It can be understood that when multiple sets of selected driving strategies exist, multiple sets of predicted influence areas can be generated accordingly.

[0079] S2033: Determine the target driving strategy of the first vehicle at the current moment based on the predicted influence area of ​​the first vehicle and the influence area corresponding to the second vehicle.

[0080] In this embodiment, based on the predicted influence area of ​​the first vehicle and the corresponding influence area of ​​the second vehicle, it is determined whether the candidate driving strategy can be used as the target driving strategy. It can be understood that the candidate driving strategy of the first vehicle at the current moment is first determined, and then the target driving strategy is verified and determined through the predicted influence area corresponding to the candidate driving strategy. This ensures that the finally determined target driving strategy can effectively reduce the risk of driving conflict between the two vehicles, further improving the reliability and rationality of the driving strategy decision.

[0081] In some possible implementations, the area corresponding to the predicted influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle is calculated to obtain the second overlapping area; if the area of ​​the second overlapping area is less than a preset area threshold, the candidate driving strategy of the first vehicle at the current moment is determined as the target driving strategy of the first vehicle at the current moment.

[0082] It is understandable that the predicted influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle can be calculated to obtain the second overlapping area. If the area of ​​the second overlapping area is less than the preset area threshold, it can be considered that the candidate driving strategy meets the preset requirements. At this time, the candidate driving strategy of the first vehicle at the current moment can be determined as the target driving strategy of the first vehicle at the current moment.

[0083] If the area of ​​the second overlapping region is greater than or equal to the preset area threshold, it indicates that the candidate driving strategy still does not meet the preset requirements, and there is still a high risk of conflict when the two vehicles drive according to the corresponding strategy. At this time, a new candidate driving strategy can be generated, and the steps of predicting the influence area calculation and overlapping verification are repeated until a candidate driving strategy that meets the overlapping area requirements is obtained, and it is determined as the target driving strategy.

[0084] In another possible implementation, when multiple sets of candidate driving strategies exist simultaneously, the overlapping area between the predicted influence area of ​​each set of candidate driving strategies and the initial influence area of ​​the second vehicle can be calculated separately. From this, the set of candidate driving strategies with the overlapping area meeting the preset area threshold requirement and the highest traffic efficiency can be selected as the target driving strategy, so as to minimize the impact on traffic efficiency while ensuring driving safety.

[0085] In this embodiment, the area of ​​the overlapping area between the predicted influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle is compared with a preset area threshold to determine whether the candidate driving strategy meets the requirements. The candidate driving strategy that meets the requirements is used as the target driving strategy for controlling the driving of the first vehicle, thereby improving driving safety.

[0086] In practical applications, the second vehicle can also simultaneously adjust its driving strategy and update the corresponding affected area. That is, the first vehicle and the second vehicle negotiate their driving strategies to further improve traffic efficiency and driving safety.

[0087] See Figure 5 This is a flowchart illustrating another vehicle control method provided in an embodiment of this application, as shown below. Figure 5 As shown, in Figure 4 Based on the method shown, step S2023 specifically includes the following steps.

[0088] S501: Receive the predicted influence area of ​​the second vehicle sent by the second vehicle.

[0089] The predicted influence area of ​​the second vehicle corresponds to its current driving strategy. Further details regarding the generation logic, input parameters, and specific representation of the predicted influence area can be found in the previously disclosed information about the predicted influence area of ​​the first vehicle; for brevity, these details will not be repeated here.

[0090] In some possible implementations, before receiving the predicted influence area of ​​the second vehicle sent by the second vehicle, the method further includes: sending the initial influence area of ​​the first vehicle to the second vehicle, wherein the second vehicle is used to calculate the area that corresponds to both the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle to obtain a first overlapping area; and determining the candidate driving strategy of the second vehicle at the current moment based on the first overlapping area.

[0091] In this embodiment of the application, the first vehicle and the second vehicle are connected in communication. After the first vehicle determines its initial area of ​​influence, the first vehicle can send its initial area of ​​influence to the second vehicle.

[0092] Similar to the previous description, the second vehicle can receive the initial influence area of ​​the first vehicle sent by the first vehicle, and calculate the area that corresponds to both the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle to obtain the first overlapping area; then, based on the first overlapping area, the candidate driving strategy of the second vehicle at the current moment is determined.

[0093] Furthermore, based on the current motion state, external environment, and candidate driving strategy, the second vehicle determines the predicted influence area of ​​the second vehicle corresponding to the candidate driving strategy of the second vehicle at the current moment.

[0094] In this embodiment of the application, through vehicle-to-vehicle communication, both vehicles generate candidate driving strategies and predicted influence areas based on their own initial influence areas and those of other vehicles. This allows the driving strategy adjustments of both vehicles to be based on the other's actual initial driving plan, thereby improving the efficiency of subsequent driving strategy negotiation.

[0095] S502: Calculate the area that corresponds to both the predicted influence area of ​​the first vehicle and the predicted influence area of ​​the second vehicle to obtain the third overlapping area.

[0096] Similar to the above, the first vehicle calculates the area that corresponds to the predicted influence area of ​​the first vehicle and the predicted influence area of ​​the second vehicle to obtain the third overlapping area. For the sake of brevity, this will not be elaborated here.

[0097] S503: If the area of ​​the third overlapping region is less than the preset area threshold, a negotiation signal is sent to the second vehicle.

[0098] The negotiation signal is used to suggest that the second vehicle control its driving according to its current driving strategy. If the area of ​​the third overlapping region is less than a preset area threshold, it indicates that the two vehicles meet preset requirements in terms of driving efficiency and safety when using their respective driving strategies. In this case, the first vehicle can send a negotiation signal to the second vehicle, suggesting that the second vehicle control its driving according to its current driving strategy. The preset area threshold can be found in the previously disclosed content; for brevity, it will not be repeated here.

[0099] If the area of ​​the third overlapping region is greater than or equal to the preset area threshold, it indicates that there is still a high risk of driving conflict when the two vehicles drive using their respective candidate driving strategies. At this time, the first vehicle can regenerate its candidate driving strategy, or wait for the second vehicle to update its candidate driving strategy and the predicted influence area before re-verifying. This application embodiment does not impose absolute restrictions on this.

[0100] S504: Receive the negotiation confirmation signal sent by the second vehicle, and determine the target driving strategy of the first vehicle at the current moment based on the negotiation confirmation signal.

[0101] In this embodiment, after receiving the negotiation signal, the second vehicle typically determines whether to adopt the suggestion of the negotiation signal and sends a negotiation feedback signal to the first vehicle. Further, the first vehicle can determine its current target driving strategy based on the negotiation confirmation signal. The negotiation confirmation signal is typically a response signal from the second vehicle to the first vehicle, indicating whether the second vehicle adopts the suggestion of the negotiation signal.

[0102] In some possible implementations, if it is determined that the second vehicle adopts the suggestion of the negotiated signal, then the candidate driving strategy of the first vehicle at the current moment is determined as the target driving strategy of the first vehicle at the current moment.

[0103] It is understandable that if the suggestion of the negotiation signal is adopted by the second vehicle, it can be assumed that the second vehicle takes the alternative driving strategy of the second vehicle as the target driving strategy of the second vehicle at the current moment, and thereby controls the driving of the second vehicle; the two vehicles drive according to their respective target driving strategies, which can improve driving efficiency and driving safety.

[0104] Furthermore, if the first vehicle determines, based on the negotiation confirmation signal, that the second vehicle has not adopted the suggestion of the negotiation signal, the first vehicle can regenerate the candidate driving strategy of the first vehicle and repeat the steps of predicting the influence area calculation, bidirectional overlap verification and negotiation initiation until both parties reach a consensus on the driving strategy; the first vehicle can also determine the target driving strategy by unilateral adjustment, and this application embodiment does not impose an absolute limitation on this.

[0105] For example, see Figure 6 This is a schematic diagram of an affected area provided in an embodiment of this application, such as... Figure 6 As shown in (1), when the distance between the first vehicle C1 and the second vehicle C2 is less than or equal to a preset distance threshold, the first vehicle C1 determines its initial influence area A1 based on its current motion state, external environment, and initial driving strategy; the second vehicle C2 determines its initial influence area A2 based on its current motion state, external environment, and initial driving strategy; furthermore, the first vehicle C1 and the second vehicle C2 send their initial influence areas to the other vehicle and receive the initial influence areas sent by the other vehicle; at this time, the area corresponding to the initial influence areas of the first vehicle and the second vehicle is the first overlapping area A3; since the area of ​​the first overlapping area A3 is greater than the preset area threshold, the two vehicles adjust and negotiate their driving strategies.

[0106] like Figure 6As shown in (2), the first vehicle C1 can determine the candidate driving strategy of the first vehicle C1 at the current time based on the first overlapping area A3, and then determine the predicted influence area B1 of the first vehicle; the second vehicle C2 can determine the candidate driving strategy of the second vehicle C2 at the current time based on the first overlapping area A3, and then determine the predicted influence area B2 of the second vehicle, and send the predicted influence area B2 of the second vehicle to the first vehicle C1; the first vehicle C1 receives the predicted influence area B2 of the second vehicle sent by the second vehicle C2, and calculates the area that the predicted influence area B1 of the first vehicle and the predicted influence area B2 of the second vehicle are in common, that is, the third overlapping area B3; it is determined that the area of ​​the third overlapping area B3 is less than the preset area threshold, therefore, the first vehicle C1 sends a negotiation signal to the second vehicle C2; ​​the second vehicle C2 receives the negotiation signal sent by the first vehicle C1, and adopts the suggestion of the negotiation signal, therefore, sends a negotiation confirmation signal to the first vehicle C1; then the two vehicles drive according to the determined target driving strategy.

[0107] In this embodiment, by having the first vehicle and the second vehicle interact and negotiate their respective predicted influence areas, the driving strategies of the two vehicles can be coordinated and adjusted. This allows for a more reasonable adjustment of the driving strategies of the two vehicles while ensuring driving safety, thereby further improving traffic efficiency in multi-vehicle interaction scenarios.

[0108] In some possible implementations, both the first vehicle and the second vehicle are communicatively connected to the control device; if it is determined that the second vehicle does not adopt the suggestion of the negotiation signal, the control device sends the cooperative driving strategy of the first vehicle at the current moment, and determines the cooperative driving strategy of the first vehicle as the target driving strategy of the first vehicle at the current moment. The control device is used to receive the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle; and to determine the cooperative driving strategy of the first vehicle and the cooperative driving strategy of the second vehicle at the current moment based on the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle; and to send the cooperative driving strategy of the first vehicle and the cooperative driving strategy of the second vehicle at the current moment to the first vehicle and the second vehicle respectively.

[0109] It is understood that in the embodiments of this application, the control device is usually a processing device with multi-vehicle collaborative decision-making capabilities. For example, the control device can be a computing unit deployed on the roadside or a cloud service platform. The embodiments of this application do not impose absolute restrictions on the deployment location and hardware form of the control device.

[0110] Specifically, the control device can receive the initial influence area of ​​the first vehicle sent by the first vehicle, and the initial influence area of ​​the second vehicle sent by the second vehicle; and based on the initial influence areas of the first vehicle and the second vehicle, combined with constraints such as road traffic rules, vehicle traffic priority, and overall road traffic efficiency, determine the cooperative driving strategy of the first vehicle at the current moment and the cooperative driving strategy of the second vehicle at the current moment; the control device sends the cooperative driving strategy of the first vehicle at the current moment and the cooperative driving strategy of the second vehicle at the current moment to the first vehicle and the second vehicle respectively.

[0111] In this embodiment, when the two vehicles cannot reach an agreement, the control device makes the decision, which avoids the decision delay caused by repeated negotiations and adjustments between the two vehicles, and ensures decision-making efficiency and traffic order in complex interaction scenarios. At the same time, the cooperative driving strategy generated by the control device can take into account both the traffic needs of the two vehicles and the overall traffic efficiency of the road, making the adjustment of the driving strategies of the two vehicles more fair and reasonable, and reducing the cost of disagreements in the autonomous negotiation between the two vehicles.

[0112] In some possible implementations, the control device is a computing unit deployed on the roadside, and the control device is communicatively connected to a cloud platform. The cloud platform is used to acquire real interaction scenario data, train and optimize the cooperative driving strategy generation model, and send the trained driving strategy generation model to the control device. The driving strategy generation model is used to generate the cooperative driving strategy of the first vehicle at the current moment and the cooperative driving strategy of the second vehicle at the current moment.

[0113] In some possible implementations, the cloud platform is communicatively connected to the first vehicle and the second vehicle. The cloud platform is also used to acquire real interaction scene data, train and optimize the influence region generation model, and send the trained influence region model to the first vehicle and the second vehicle. The influence region model is used to generate the initial influence region and the predicted influence region.

[0114] Corresponding to the above embodiments, this application also provides a vehicle, see [link to previous embodiment]. Figure 7 This is a structural schematic diagram of a vehicle provided in an embodiment of this application, such as... Figure 7 As shown, vehicle 700 includes controller 701, which is configured to perform any of the methods described in the method embodiments.

[0115] For details regarding the embodiments of this application, please refer to the description of the above method embodiments. For the sake of brevity, these details will not be repeated here.

[0116] Corresponding to the above embodiments, this application also provides a computer-readable storage medium, wherein the computer-readable storage medium may store a program, and when the program runs, it can control the device where the computer-readable storage medium is located to execute some or all of the steps in the above method embodiments. In specific implementation, the computer-readable storage medium may be a magnetic disk, optical disk, ROM, or random access memory (RAM), etc.

[0117] For details regarding the embodiments of this application, please refer to the description of the above method embodiments. For the sake of brevity, these details will not be repeated here.

[0118] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, or the existence of B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0119] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0120] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the above-described apparatus, controller, and computer storage medium can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0121] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0122] The above description is merely a specific embodiment of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. The protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that, Applied to the first vehicle, including: When the distance between the first vehicle and the second vehicle is less than or equal to a preset distance threshold, the initial influence area of ​​the first vehicle is determined based on the current motion state of the first vehicle, the external environment, and the initial driving strategy. Receive the initial influence area of ​​the second vehicle sent by the second vehicle, and calculate the area that corresponds to the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle to obtain the first overlapping area; Based on the first overlapping area, determine the target driving strategy of the first vehicle at the current moment; Control the first vehicle's movement according to its current target driving strategy. The initial influence area of ​​the second vehicle corresponds to the initial driving strategy of the second vehicle at the current moment.

2. The method according to claim 1, characterized in that, The step of determining the target driving strategy of the first vehicle at the current moment based on the first overlapping region includes: Based on the first overlapping area, determine the candidate driving strategy for the first vehicle at the current moment; Based on the current motion state of the first vehicle, the external environment, and the candidate driving strategy, the predicted influence area of ​​the first vehicle is determined. Based on the predicted influence area of ​​the first vehicle and the corresponding influence area of ​​the second vehicle, the target driving strategy of the first vehicle at the current moment is determined.

3. The method according to claim 2, characterized in that, The step of determining the target driving strategy for the first vehicle at the current moment based on the predicted influence area of ​​the first vehicle and the corresponding influence area of ​​the second vehicle includes: Calculate the area that corresponds to both the predicted influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle to obtain the second overlapping area; If the area of ​​the second overlapping region is less than a preset area threshold, then the candidate driving strategy of the first vehicle at the current moment is determined to be the target driving strategy of the first vehicle at the current moment.

4. The method according to claim 2, characterized in that, The step of determining the target driving strategy for the first vehicle at the current moment based on the predicted influence area of ​​the first vehicle and the corresponding influence area of ​​the second vehicle includes: Receive the predicted influence area of ​​the second vehicle sent by the second vehicle, and the predicted influence area of ​​the second vehicle corresponds to the candidate driving strategy of the second vehicle at the current moment; Calculate the area that corresponds to both the predicted influence area of ​​the first vehicle and the predicted influence area of ​​the second vehicle to obtain the third overlapping area; If the area of ​​the third overlapping region is less than a preset area threshold, a negotiation signal is sent to the second vehicle. The negotiation signal is used to suggest that the second vehicle control the second vehicle to drive according to the second vehicle's current driving strategy. The system receives a negotiation confirmation signal sent by the second vehicle and determines the target driving strategy of the first vehicle at the current moment based on the negotiation confirmation signal. The negotiation confirmation signal is used to indicate whether the second vehicle adopts the suggestion of the negotiation signal.

5. The method according to claim 4, characterized in that, Determining the target driving strategy of the first vehicle at the current moment based on the negotiation confirmation signal includes: If it is determined that the second vehicle adopts the suggestion of the negotiated signal, then the candidate driving strategy of the first vehicle at the current moment is determined to be the target driving strategy of the first vehicle at the current moment.

6. The method according to claim 4, characterized in that, Both the first vehicle and the second vehicle are communicatively connected to the control device. The step of determining the target driving strategy for the first vehicle at the current moment based on the negotiation confirmation signal includes: If it is determined that the second vehicle does not adopt the suggestion of the negotiation signal, then the cooperative driving strategy of the first vehicle at the current moment is received from the control device, and the cooperative driving strategy of the first vehicle is determined to be the target driving strategy of the first vehicle at the current moment. The control device is configured to receive the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle; and determine the cooperative driving strategy of the first vehicle and the cooperative driving strategy of the second vehicle at the current moment based on the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle; and send the cooperative driving strategy of the first vehicle and the cooperative driving strategy of the second vehicle at the current moment to the first vehicle and the second vehicle respectively.

7. The method according to claim 4, characterized in that, Before receiving the predicted influence area of ​​the second vehicle sent by the second vehicle, the method further includes: Send the initial area of ​​influence of the first vehicle to the second vehicle; The second vehicle is used to calculate the area that corresponds to the initial influence area of ​​the first vehicle and the initial influence area of ​​the second vehicle to obtain the first overlapping area; based on the first overlapping area, the candidate driving strategy of the second vehicle at the current moment is determined.

8. The method according to claim 1, characterized in that, The step of determining the target driving strategy of the first vehicle at the current moment based on the first overlapping region includes: If the area of ​​the first overlapping region is less than a preset area threshold, then the initial driving strategy of the first vehicle at the current moment is determined to be the target driving strategy of the first vehicle at the current moment. If the area of ​​the first overlapping region is greater than or equal to the preset area threshold, then the target driving strategy of the first vehicle at the current moment is determined based on the first overlapping region.

9. A vehicle, characterized in that, include: A controller configured to perform the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 8.

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