Vehicle cut-in control method and apparatus, and device and storage medium

Abstract

A vehicle cut-in control method and apparatus, and a device and a storage medium. The method comprises: collecting vehicle information and lane line information from around an ego vehicle; on the basis of transverse speeds and transverse distances of vehicles around the ego vehicle, determining whether there is a vehicle, which has a cut-in intent, around the ego vehicle; when in a high-speed operating condition, on the basis of a line pressing ratio of the vehicles around the ego vehicle, determining whether there is a vehicle, which has a cut-in intent, around the ego vehicle; when in a low-speed operating condition, on the basis of transverse distances and transverse speeds of wheel contact points of the vehicles around the ego vehicle, determining whether there is a vehicle, which has a cut-in intent, around the ego vehicle; and when it is determined that there is a vehicle which has a cut-in intent, adaptively adjusting a deceleration change rate on the basis of the deceleration of the ego vehicle.

Description

Vehicle cut-in control method, device, equipment and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number CN202311243811.X filed on September 22, 2023, entitled “A vehicle cut-in control method, device, apparatus and storage medium,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the field of autonomous driving technology, and to a vehicle cut-in control method, device, equipment, and storage medium. Background Art

[0004] With the rapid development of intelligent connected vehicles and the continuous improvement of the market penetration rate of advanced driver assistance technologies, the performance of the adaptive cruise control function, as one of the most commercially mature and frequently used functions by users, directly determines the user experience brought by the entire intelligent driving function. However, the complex driving environment in China and the uncertain driving trajectory of the target vehicle driver have caused the adaptive cruise control system to be limited in function or fail in many working conditions. For example, some drivers change lanes quickly and dangerously on the road or cut in at close range. In such an environment, the traditional adaptive cruise control system will not slow down until most or all of the vehicle in front cuts into the vehicle's lane, and will over-decelerate to avoid collision with the cutting vehicle, but this method can easily lead to collisions with the vehicle behind.

[0005] The stability of the preceding vehicle's cut-in condition, a key factor in the user safety experience of adaptive cruise control, requires precise control of vehicle speed and distance, an efficient cut-in decision algorithm, and a real-time cut-in control strategy to meet the high-precision, real-time, and reliable requirements of autonomous driving. Traditional methods for improving preceding vehicle cut-in performance primarily use lateral speed and distance for prediction, but these methods suffer from issues such as delayed cut-in recognition, unstable recognition, and poor deceleration performance.

[0006] Therefore, there is an urgent need for a method to accurately identify the risk of the preceding vehicle cutting in and ensure the driving safety of the vehicle itself.

[0007] Summary of the Invention

[0008] According to some embodiments of the present disclosure, a vehicle cut-in control method, device, equipment and storage medium solve the problems of late and unstable cut-in recognition in all speed ranges and scenarios by utilizing one or more embodiments of the contents of the present disclosure, and effectively improve deceleration comfort and reduce driving safety risks, and effectively avoid the problem of poor deceleration performance under emergency conditions.

[0009] In the first aspect, a vehicle cutting-in control method according to some embodiments of the present disclosure may include: collecting vehicle information and lane line information around the own vehicle, the vehicle information may include: lateral speed, lateral distance, lane pressure ratio and wheel contact point; judging whether there is a vehicle with cutting-in intention around the own vehicle based on the lateral speed and lateral distance of the vehicles around the own vehicle; when operating at high speed, judging whether there is a vehicle with cutting-in intention around the own vehicle based on the lane pressure ratio of the vehicles around the own vehicle; when operating at low speed, judging whether there is a vehicle with cutting-in intention around the own vehicle based on the lateral distance and lateral speed of the wheel contact point of the vehicles around the own vehicle; when it is determined that there is a vehicle with cutting-in intention, adaptively adjusting the deceleration change rate according to the deceleration of the own vehicle to control the deceleration of the own vehicle.

[0010] In a second aspect, a vehicle cut-in control device according to some embodiments of the present disclosure may include: an acquisition module for collecting vehicle information and lane line information around the vehicle, wherein the vehicle information may include: lateral speed, lateral distance, lane pressure ratio and wheel contact point; a decision module for judging whether there is a vehicle with the intention to cut in around the vehicle based on the lateral speed and lateral distance of the vehicles around the vehicle; when operating at high speed, judging whether there is a vehicle with the intention to cut in around the vehicle based on the lane pressure ratio of the vehicles around the vehicle; when operating at low speed, judging whether there is a vehicle with the intention to cut in around the vehicle based on the lateral distance and lateral speed of the wheel contact point of the vehicles around the vehicle; a control module for adaptively adjusting the deceleration change rate according to the deceleration of the vehicle to control the deceleration of the vehicle when determining that there is a vehicle with the intention to cut in.

[0011] In a third aspect, an electronic device according to some embodiments of the present disclosure may include: a processor; a memory, wherein computer-readable instructions are stored on the memory, and when the computer-readable instructions are executed by the processor, the method described in any one of the first aspects is implemented.

[0012] In a fourth aspect, a computer-readable storage medium according to some embodiments of the present disclosure stores computer program instructions, which, when executed by a computer, enable the computer to execute any one of the methods described in the first aspect.

[0013] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0015] FIG1 shows a schematic diagram of a preceding vehicle cut-in trajectory deviation according to some embodiments of the present disclosure;

[0016] FIG2 shows a flow chart of a vehicle cut-in control method according to some embodiments of the present disclosure;

[0017] FIG3 shows a schematic diagram of a predicted time and longitudinal distance curve;

[0018] FIG4 shows a schematic diagram of a curve of cut-in probability and predicted lateral distance;

[0019] FIG5 shows a schematic diagram of line pressing ratio according to some embodiments of the present disclosure;

[0020] FIG6 shows a schematic diagram of a wheel contact point according to some embodiments of the present disclosure;

[0021] FIG7 shows a schematic diagram of a vehicle cut-in control device according to some embodiments of the present disclosure;

[0022] FIG8 shows a schematic diagram of an electronic device according to some embodiments of the present disclosure;

[0023] FIG9 shows a schematic diagram of a computer-readable program medium according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0024] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent the same or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0025] Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the blocks shown in the drawings are functional entities that do not necessarily correspond to physically or logically separate entities.

[0026] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0027] 1 , a schematic diagram of a preceding vehicle cut-in trajectory deviation is shown according to some embodiments of the present disclosure.

[0028] As shown in Figure 1, by constructing a model of the preceding vehicle's cut-in trajectory deviation, which serves as the calculation basis for the subsequent vehicle cut-in control method, that is, as the calculation basis for judging the cut-in risk level of the cutting-in vehicle, it can provide a better theoretical method for cut-in judgment and has high practical application value.

[0029] In Figure 1, Ego_Veh represents the ego vehicle, Obj_Veh1 represents the historical position of the target vehicle to be cut in, Obj_Veh2 represents the current position of the target vehicle to be cut in, Obj_Veh3 represents the future position of the target vehicle to be cut in, Llw represents the distance between the ego vehicle and the left lane line, Lrw represents the distance between the ego vehicle and the right lane line, dycHist represents the lateral distance between the ego vehicle and the target vehicle's historical position, dycAct represents the lateral distance between the target vehicle's current position and the ego vehicle's predicted trajectory, dycAct_pred represents the lateral distance between the target vehicle and the ego vehicle's trajectory within a period of time, and dx represents the predicted lateral distance between the target vehicle and the ego vehicle's trajectory within a period of time. The target's current position is the longitudinal distance from the ego vehicle. dxv represents the current longitudinal relative speed between the target vehicle and the ego vehicle. dyv represents the current lateral relative speed between the target vehicle and the ego vehicle. The solid line in front of the ego vehicle represents the predicted future driving trajectory of the ego vehicle and serves as the basis for calculating driving risk judgment. The dotted line between the target vehicle at the historical position and the target vehicle at the current position represents the target vehicle's historical driving trajectory. qDycHist represents the variance of the target vehicle's historical trajectory. The dotted line between the target vehicle at the current position and the target vehicle at the future position represents the target vehicle's future driving trajectory. The three solid lines parallel to each other in the horizontal direction represent lane lines.

[0030] 2 , a flow chart of a vehicle cut-in control method according to some embodiments of the present disclosure is shown. As shown in FIG2 , the method includes at least steps S101 to S105:

[0031] Step S101: Collect vehicle information and lane line information around the vehicle, the vehicle information including: lateral speed, lateral distance, lane pressure ratio and wheel contact point.

[0032] In some embodiments, a camera and millimeter-wave radar are used to identify vehicle information and lane information around the vehicle. It is understood that the camera and millimeter-wave radar are used to identify the lateral speed, lateral distance, lane contact ratio, wheel contact point, and lane information of vehicles around the vehicle, including lane information with and without lane lines.

[0033] Step S102: Based on the lateral speed and lateral distance of the vehicles around the vehicle, determine whether there is a vehicle around the vehicle with the intention of cutting in.

[0034] In some embodiments, it is determined whether the current lateral speed of the target vehicle is greater than a first set threshold; if so, the lateral distance of the target vehicle's position after a period of time in the future is predicted based on the lateral speed of the target vehicle; the predicted lateral distance is filtered, and a preceding vehicle cut-in probability model is established; the preceding vehicle cut-in probability model is used to calculate whether the target vehicle's cut-in probability is greater than a second set threshold; if so, the target vehicle is determined to be a vehicle with a cut-in intention.

[0035] To facilitate understanding, let's use an example. The lateral velocity-based cut-in prediction method predicts the lateral distance of the preceding vehicle a certain time in the future based on the preceding vehicle's lateral velocity at the time of the cut-in. This predicted lateral distance is then filtered to establish a model for the preceding vehicle's cut-in probability. This method is suitable for cut-in prediction in both lane marking-free and lane-clearing situations, and exhibits good adaptability.

[0036] It should be noted that to avoid misidentifying normally traveling vehicles or vehicles with low lateral speeds and no intention to cut in, in some embodiments, the cut-in prediction based on lateral speed is based on the assumption that the target vehicle's lateral speed is greater than a threshold, such as greater than 0.25 m / s. The cut-in prediction time and cut-in probability are then determined when the lateral speed exceeds the threshold. For example, when the lateral speed is less than 1.2 m / s, the actual value is output; when the lateral speed is greater than 1.2 m / s, the maximum value is output. This avoids abnormal lateral speeds or false deceleration at the confluence entrance.

[0037] It should be noted that the cut-in prediction time can be determined based on the longitudinal distance. As shown in Figure 3, the horizontal axis of the curve graph represents the longitudinal distance between the target vehicle and the own vehicle / m, and the vertical axis represents the maximum prediction time / s during the cut-in judgment. For example: the maximum prediction time for the target within the longitudinal distance of 40m is 1s, and the maximum prediction time for the target vehicle within the longitudinal distance of 40m to 100m is calculated according to linear interpolation. The target vehicle with a longitudinal distance beyond 100m is not subject to cut-in prediction judgment.

[0038] It should be noted that the cut-in probability is mainly determined based on the predicted lateral distance. As shown in Figure 4, the horizontal axis represents the predicted lateral distance, and the vertical axis represents the cut-in probability. When the cut-in probability is greater than the threshold, for example, greater than 0.7, ACC (Adaptive Cruise Control) selects the target vehicle to be cut in as the control target, otherwise the vehicle is not used as the control target.

[0039] In some embodiments, it is understood that the first set threshold is 0.25 m / s and the second set threshold is 0.7.

[0040] It should be noted that the cut-in prediction judgment based on lateral speed and distance is applicable to all speeds and all scenarios.

[0041] Step S103: When operating at high speed, based on the line-crossing ratio of vehicles around the vehicle, determine whether there are vehicles around the vehicle with the intention of cutting in.

[0042] In some embodiments, step S103 includes: calculating the target vehicle's lane-crossing ratio based on the angle between the own vehicle and the lane line and the angle between the own vehicle and the edge of the target vehicle; judging whether the target vehicle crosses the line based on the target vehicle's lane-crossing ratio; if so, calculating the lateral safety distance between the target vehicle and the own vehicle, and when the actual lateral distance is less than the lateral safety distance, judging the target vehicle as a vehicle with the intention of cutting in.

[0043] For ease of understanding, let's take an example. The collision probability of the target cut-in calculated based on lateral speed and lateral distance can timely screen out the target and take braking action when the vehicle has a clear intention to cut in. However, when the lateral speed is low or there is an error in the lateral distance, there are often unstable perceptions, slow responses in close-range cut-ins and fast cut-ins. On the basis of the cut-in probability predicted based on lateral speed, a cut-in prediction method based on the line-pressing ratio is added to achieve the goal of timely screening the front vehicle cut-in target as the control object when the vehicle speed exceeds a threshold, such as greater than 50kph, and the prediction based on the lateral speed fails. The cut-in prediction method based on the line-pressing ratio is mainly used to determine whether the vehicles around the vehicle have crossed the line, the line-pressing ratio of the vehicles, and the screening conditions of the vehicles.

[0044] It can be understood that step S103 can judge the vehicle that cuts in slowly under high-speed conditions, making up for the defects of unstable perception of the cutting-in vehicle, close-range cutting-in and slow response caused by fast cutting-in conditions under full-speed conditions.

[0045] In some embodiments, the lane crossing conditions of vehicles around the vehicle are determined as follows: when the target type is a sedan, whether the vehicle crosses the lane is determined based on whether the vehicle body edge line and the bottom edge line of the rear frame intersect with the lane line respectively; when the target type is a truck, whether the vehicle crosses the lane is determined based on whether the bottom edge line of the rear frame intersects with the lane line.

[0046] As shown in Figure 5, in some embodiments, the line pressing ratio of vehicles around the own vehicle is determined as follows: in Figure 5, point A represents the center of the front axle of the own vehicle, point B represents the point where the lateral distance between the target vehicle and the own vehicle is the smallest, point C represents the point where the lateral distance between the target vehicle and the own vehicle is the largest, point D represents the intersection between the target vehicle and the lane line, β1 represents the angle between the own vehicle and the lane line, β2 represents the angle between the own vehicle and the edge of the target vehicle, then the line pressing ratio γ = β1 / β2. It can be understood that the line pressing condition and the line pressing ratio are redundant with each other.

[0047] In some embodiments, the calculation method of the cut-in probability is described. Since the method of predicting the cut-in based on the line-crossing ratio is mainly used for target vehicles with unclear cutting-in intention, after determining that the target vehicle has crossed the line, the lateral safety distance between the target vehicle and the vehicle is used to determine whether the target vehicle has cut-in intention. That is, when the actual lateral distance is less than the lateral safety distance, the target vehicle is judged to have cut-in intention.

[0048] In some embodiments, the lateral safety distance between the target vehicle and the vehicle is calculated according to the following formula:

[0049] Among them, D safe is the horizontal safety distance, Width Ego is the vehicle width, Width Ojb is the width of the target vehicle.

[0050] In some embodiments, the line pressure ratio and the lateral safety distance D safe The settings are shown in Table 1. If the front vehicle crosses the line and has the intention to cut in, if the actual lateral distance between the front vehicle and the vehicle is less than the calculated lateral safety distance, it will be used as the control target, otherwise it will not be used as the control target.

[0051] Table 1

[0052] Step S104: When operating at low speed, determine whether there is a vehicle around the vehicle with the intention of cutting in based on the lateral distance and lateral speed of the wheel contact points of the vehicles around the vehicle.

[0053] In some embodiments, when the lateral speed at the contact point of the wheel of the target vehicle is greater than a third set threshold, the target vehicle is judged to be a vehicle with the intention of cutting in; when the lateral speed at the contact point of the wheel of the target vehicle is less than the third set threshold, no cut-in prediction judgment is performed, and whether there is a collision risk is judged based on the lateral distance of the front wheels and the vehicle heading angle, where the third set threshold is 50kph.

[0054] It should be noted that step S104 can determine a vehicle cutting in at a large angle under low-speed conditions or a vehicle cutting in at a close distance under low-speed conditions.

[0055] For ease of understanding, an example is provided. Determining whether a vehicle has an intention to cut in based on the line-crossing ratio can be used to address scenarios where the vehicle's speed exceeds a threshold, such as greater than 50 kph. A cut-in prediction method based on the wheel contact point can earlier identify the risk of cutting in. This method is illustrated here with reference to Figure 6. In Figure 6, a represents the center point of the vehicle's front axle, b represents the nearest wheel of the target vehicle, D_W represents the lateral distance between the target vehicle's wheel and the center point of the vehicle's front axle, c represents the center point of the target vehicle's rear, and D_R represents the lateral distance from the center of the target vehicle's rear to the center of the vehicle. It is understood that at low speeds and close distances, D_R is much greater than D_W when the preceding vehicle cuts in. If D_R is used to determine the target vehicle's cutting-in risk, the cut-in risk may be detected late. Therefore, the disclosed embodiment uses the lateral distance and lateral speed at the wheel contact point to predict the cut-in risk, enabling earlier determination of whether the target vehicle has a cutting-in risk.

[0056] It should be noted that if the target vehicle has a large lateral speed when cutting in a low-speed scenario, a cut-in prediction judgment is performed. The prediction method is consistent with the cut-in prediction method based on lateral speed and will not be repeated here. Among them, the maximum lateral speed limit can be 0.5m / s, the maximum prediction time within a longitudinal distance of 30m can be 1s, and the maximum prediction time outside a longitudinal distance of 60m is 0s. The predicted cut-in probabilities at lateral distances of 1.2m and 1.7m are 0.996 and 0, respectively.

[0057] It should be noted that if the target vehicle has a low lateral speed when cutting in at low speed, no cut-in prediction is performed. Instead, the collision risk is determined based on the front wheel lateral distance and the vehicle's heading angle. As shown in Table 2, the lateral safety distance can be obtained by looking up the table for different heading angles. If the front wheel lateral distance at the corresponding heading angle is less than the preset distance, the vehicle is taken as the control target.

[0058] Table 2

[0059] This disclosure proposes various methods for predicting the impact of vehicles around the vehicle, based on multiple dimensions, including low speed, high speed, lane markings, lane absence, large angles, and small angles. It is understood that these various methods are redundant with each other, thus enabling the assessment of the risk of a preceding vehicle cutting in across all speed ranges and scenarios. As shown in Table 3, the applicable scenarios for these various methods for predicting the impact of vehicles around the vehicle are as follows:

[0060] Table 3

[0061] Step S105: When it is determined that a vehicle has the intention to cut in, the vehicle deceleration is controlled according to the deceleration change rate of the vehicle.

[0062] In some embodiments, the vehicle deceleration rate Jerk is calculated according to the following formula: Jerk = (axcv - axcv old ) / P;

[0063] Among them, axcv is the deceleration of the vehicle in the current cycle, axcv old is the deceleration of the previous cycle, and P is the time coefficient;

[0064] The deceleration change rate is adaptively adjusted according to the deceleration of the vehicle to control the vehicle to respond quickly under different working conditions.

[0065] It is understandable that in order to take into account both the comfort and safety of acceleration and deceleration when the preceding vehicle cuts in, the deceleration change rate strategies under normal and emergency conditions are differentiated. The difference between the deceleration of the current cycle and the deceleration of the previous cycle is calculated and divided by the time coefficient. The time coefficient P value can be obtained by querying Table 4. As shown in Table 4, the greater the difference between the deceleration of the current cycle and the deceleration of the previous cycle, the smaller the time coefficient used, and the larger the calculated acceleration change rate, which can meet the deceleration speed under emergency conditions.

[0066] In some embodiments, the deceleration rate can be adjusted according to the current deceleration. A greater deceleration indicates a more dangerous driving condition, as shown in Table 4. The final deceleration rate is calculated according to the formula Jerk = (axcv - axcv old ) / P and the query results in Table 4 are used to determine the smaller value between the two. The smaller value is then combined with the deceleration of the vehicle to output to the actuator for deceleration control, thereby controlling the vehicle to respond quickly under different working conditions.

[0067] Table 4

[0068] Based on the above-disclosed content, the embodiment of the present disclosure judges the degree of collision based on the target relative vehicle speed and calculates the comfortable or emergency deceleration change rate, which can effectively improve deceleration comfort and reduce driving safety risks, avoiding the problem of poor deceleration performance under emergency conditions.

[0069] 7 , a schematic diagram of a vehicle cut-in control device according to some embodiments of the present disclosure is shown, and the device includes:

[0070] The acquisition module 201 is used to collect vehicle information and lane information around the vehicle. The vehicle information includes: lateral speed, lateral distance, lane pressure ratio and wheel contact point.

[0071] Decision module 202: for determining whether there is a vehicle with an intention to cut in around the vehicle based on the lateral speed and lateral distance of the vehicles around the vehicle;

[0072] When driving at high speeds, the system determines whether there are vehicles around the vehicle that intend to cut in based on the ratio of vehicles crossing the line around the vehicle.

[0073] At low speeds, the system determines whether there are any vehicles around the vehicle that intend to cut in based on the lateral distances and lateral speeds of the wheel contact points of the vehicles around the vehicle.

[0074] The control module 203 is configured to control the deceleration of the vehicle according to the deceleration change rate of the vehicle when a vehicle with the intention to cut in is determined.

[0075] In some embodiments, in one possible implementation, the decision module is further configured to determine whether a current lateral speed of the target vehicle is greater than a first set threshold;

[0076] If yes, predicting the lateral distance of the target vehicle at a position of the target vehicle a period of time in the future based on the lateral speed of the target vehicle;

[0077] Filter the predicted lateral distance and establish a probability model for the preceding vehicle to cut in;

[0078] Calculating whether the cut-in probability of the target vehicle is greater than a second set threshold using the preceding vehicle cut-in probability model;

[0079] If so, it is determined that the target vehicle is a vehicle with an intention to cut in.

[0080] In some embodiments, the decision module is further configured to calculate a lane-crossing ratio of the target vehicle based on an angle between the ego vehicle and the lane line and an angle between the ego vehicle and an edge of the target vehicle;

[0081] Determining whether the target vehicle crosses the line based on the line-crossing ratio of the target vehicle;

[0082] If so, calculate the lateral safety distance between the target vehicle and the vehicle, and when the actual lateral distance is less than the lateral safety distance, determine that the target vehicle is a vehicle with the intention of cutting in.

[0083] In some embodiments, the calculation module calculates the lateral safety distance between the target vehicle and the vehicle according to the following formula:

[0084] Among them, D safe is the horizontal safety distance, Width Ego is the vehicle width, Width Ojb is the width of the target vehicle.

[0085] In some embodiments, the decision module is further configured to determine that the target vehicle is a vehicle with a cut-in intention when a lateral speed at a wheel contact point of the target vehicle is greater than a third set threshold;

[0086] When the lateral speed of the target vehicle at the wheel contact point is less than the third set threshold, no cut-in prediction judgment is performed, and whether there is a collision risk is judged based on the lateral distance of the front wheels and the vehicle heading angle.

[0087] The control module is used to adaptively adjust the deceleration rate according to the deceleration of the vehicle to control the vehicle to respond quickly under different working conditions.

[0088] In some embodiments, the vehicle deceleration rate Jerk is calculated according to the following formula: Jerk = (axcv - axcv old ) / P;

[0089] Among them, axcv is the deceleration of the vehicle in the current cycle, axcv old is the deceleration of the previous cycle, and P is the time coefficient.

[0090] In some embodiments, the acquisition module is further configured to identify vehicle information and lane line information around the vehicle based on the camera and millimeter-wave radar.

[0091] The electronic device 600 according to this embodiment of the present disclosure is described below with reference to Figure 8. The electronic device 600 shown in Figure 8 is merely an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0092] As shown in FIG8 , electronic device 600 is implemented as a general-purpose computing device. Components of electronic device 600 may include, but are not limited to, the aforementioned at least one processing unit 610, the aforementioned at least one storage unit 620, and a bus 630 connecting various system components (including storage unit 620 and processing unit 610).

[0093] In some embodiments, the storage unit stores program code, which can be executed by the processing unit 610, so that the processing unit 610 performs the steps described in the above "Example Method" section of this specification according to various exemplary embodiments of the present disclosure.

[0094] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 621 and / or a cache memory unit 622 , and may also include a read-only memory unit (ROM) 623 in some embodiments.

[0095] The storage unit 620 may also include a program / utility 624 having a set (at least one) of program modules 625, such program modules 625 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0096] Bus 630 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0097] The electronic device 600 can also communicate with one or more external devices (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 600, and / or any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 650. Furthermore, the electronic device 600 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 660. As shown, the network adapter 660 communicates with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 600, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0098] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0099] According to the solution of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above-mentioned method of this specification is stored. In some possible implementations, various aspects of the present disclosure can also be implemented in the form of a program product, which includes program code. When the program product is executed on a terminal device, the program code is used to cause the terminal device to perform the steps according to various exemplary embodiments of the present disclosure described in the "Exemplary Methods" section of this specification.

[0100] 9 , a program product 700 for implementing the above-described method according to an embodiment of the present disclosure is described. The program product 700 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0101] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0102] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0103] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0104] The program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0105] In some embodiments, the above figures are merely illustrative of the processes included in the methods according to exemplary embodiments of the present disclosure and are not intended to be limiting. It is readily understood that the processes illustrated in the above figures do not indicate or limit the temporal order of these processes. It is also readily understood that in some embodiments, these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0106] The foregoing description is intended only to provide specific embodiments of the present disclosure, which will enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments shown herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

[0107] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

Claims

1. A vehicle cut-in control method, comprising: Collecting vehicle information and lane line information around the vehicle, wherein the vehicle information includes: lateral speed, lateral distance, lane pressure ratio and wheel contact point; Based on the lateral speed and lateral distance of the vehicles around the vehicle, determine whether there are vehicles around the vehicle that intend to cut in; When driving at high speed, the system determines whether there are vehicles around the vehicle that intend to cut in based on the ratio of vehicles around the vehicle that are crossing the line. When the vehicle is in low-speed operation, the lateral distance and lateral speed of the wheel contact points of the vehicles around the vehicle are used to determine whether there are vehicles around the vehicle that intend to cut in. When a vehicle with the intention of cutting in is determined, the deceleration change rate is adaptively adjusted according to the deceleration of the own vehicle to control the deceleration of the own vehicle.

2. The vehicle cut-in control method according to claim 1, wherein: The determining whether there is a vehicle with a cutting-in intention around the vehicle based on the lateral speed and lateral distance of the vehicles around the vehicle includes: Determining whether the current lateral speed of the target vehicle is greater than a first set threshold; If yes, predicting the lateral distance of the target vehicle at a position of the target vehicle a period of time in the future according to the lateral speed of the target vehicle; Filter the predicted lateral distance and establish a probability model for the front vehicle to cut in; Calculating whether the cutting-in probability of the target vehicle is greater than a second set threshold value by using the preceding vehicle cutting-in probability model; If so, it is determined that the target vehicle is a vehicle with the intention of cutting in.

3. The vehicle cut-in control method according to claim 1, wherein: In the high-speed operating condition, judging whether there is a vehicle with the intention of cutting in around the vehicle based on the line-crossing ratio of vehicles around the vehicle, further includes: Calculate the lane-crossing ratio of the target vehicle according to the angle between the vehicle and the lane line and the angle between the vehicle and the edge of the target vehicle; Based on the line crossing ratio of the target vehicle, determining whether the target vehicle crosses the line; If so, the lateral safety distance between the target vehicle and the vehicle is calculated, and when the actual lateral distance is less than the lateral safety distance, the target vehicle is determined to be a vehicle with an intention to cut in.

4. The vehicle cut-in control method according to claim 3, wherein: The lateral safety distance between the target vehicle and the vehicle is calculated according to the following formula: Among them, D safe is the lateral safety distance, Width Ego is the vehicle width, Width Ojb is the width of the target vehicle.

5. The vehicle cut-in control method according to claim 1, wherein: In the low-speed operating condition, judging whether there is a vehicle with a cutting-in intention around the vehicle based on the lateral distance and lateral speed of the wheel contact points of vehicles around the vehicle, further includes: When the lateral speed of the target vehicle at the wheel contact point is greater than a third set threshold, the target vehicle is judged to be a vehicle with a cut-in intention; When the lateral speed of the target vehicle at the wheel contact point is less than the third set threshold, no cut-in prediction judgment is performed, and whether there is a collision risk is judged based on the lateral distance of the front wheels and the vehicle heading angle.

6. The vehicle cut-in control method according to claim 1, wherein: When determining that a vehicle has the intention to cut in, adaptively adjusting the deceleration change rate according to the deceleration of the own vehicle to control the deceleration of the own vehicle includes: The deceleration rate Jerk of the vehicle is calculated according to the following formula: Jerk=(axcv-axcv old ) / P; Among them, axcv is the deceleration of the vehicle in the current cycle, axcv old is the deceleration of the previous cycle, and P is the time coefficient; The deceleration change rate is adaptively adjusted according to the deceleration of the vehicle to control the vehicle to respond quickly under different working conditions.

7. The vehicle cut-in control method according to claim 1, before determining whether there is a vehicle with a cut-in intention around the vehicle, further comprising: Identify vehicle information and lane line information around the vehicle based on cameras and millimeter-wave radars.

8. A vehicle cut-in control device, comprising: A collection module is used to collect vehicle information and lane line information around the vehicle, wherein the vehicle information includes: lateral speed, lateral distance, lane pressure ratio and wheel contact point; A decision module is used to determine whether there is a vehicle with the intention of cutting in around the vehicle based on the lateral speed and lateral distance of the vehicles around the vehicle; When driving at high speed, the system determines whether there are vehicles around the vehicle that intend to cut in based on the ratio of vehicles around the vehicle that are crossing the line. When the vehicle is in low speed condition, based on the lateral distance and lateral speed of the wheel contact point of the vehicles around the vehicle, Determine whether there are vehicles around the vehicle that intend to cut in; The control module is used to adaptively adjust the deceleration change rate according to the deceleration of the own vehicle to control the deceleration of the own vehicle when determining that a vehicle has the intention to cut in.

9. An electronic device, comprising: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented. 10 . A computer-readable storage medium storing computer program instructions, which, when executed by a computer, causes the computer to execute the method according to claim 1 .

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