Vehicle driving control method and apparatus, program product and vehicle

Abstract

Provided in the embodiments of the present application are a vehicle driving control method and apparatus, a program product and a vehicle. The method comprises: if an interfering vehicle is present in a target lane within a preset detection area in the driving direction of a target vehicle, acquiring vehicle information of the interfering vehicle and lane information of each lane within the preset detection area, the target lane being a neighboring lane of the current driving lane of the target vehicle; on the basis of the vehicle information and the lane information, generating an avoidance strategy for the target vehicle, the avoidance strategy being used for the target vehicle to avoid the interfering vehicle during driving; and, according to the avoidance strategy, controlling the target vehicle to execute a driving action. The present application can improve the driving safety of vehicles.

Description

Vehicle travel control method, device, program product, and vehicle Cross-reference to Related Applications

[0001] Embodiments of the present application are based on and claim priority from Chinese Patent Application No. 202410728800.9 filed on June 6, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of vehicle control, in particular to a vehicle travel control method, device, program product, and vehicle. BACKGROUND

[0003] Currently, high-speed or expressways are usually single-direction multi-lane, in such a driving environment, when a vehicle encounters some interfering vehicles (such as large trucks, tank trucks, and other special large vehicles), it will inevitably face the risk of large vehicles crossing the line, cargo scattering, etc., and the speed of the vehicle on the high-speed or expressway is generally fast, which leads to safety hazards. In this case, if the driver is not focused, this safety hazard will undoubtedly be further magnified. Based on this, how to improve the safety of vehicle travel is a technical problem to be solved. SUMMARY

[0004] Embodiments of the present application provide a vehicle travel control method, device, computer program product or computer program, computer readable storage medium, and vehicle, thereby at least to some extent, the safety of vehicle travel can be improved.

[0005] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0006] According to an aspect of embodiments of the present application, a vehicle travel control method is provided, the method comprising: if there is an interfering vehicle in a target lane in a preset detection area in a target travel direction of a target vehicle, obtaining vehicle information of the interfering vehicle and lane information of each lane in the preset detection area, the target lane being an adjacent lane of a current travel lane of the target vehicle; generating an avoidance strategy for the target vehicle according to the vehicle information and the lane information, the avoidance strategy being used for the target vehicle to avoid the interfering vehicle during travel; and controlling the target vehicle to perform a travel action according to the avoidance strategy.

[0007] According to an aspect of some embodiments of the present application, a vehicle driving control device is provided, the device comprising: an acquisition unit configured to acquire vehicle information of an interfering vehicle and lane information of each lane in a preset detection area in a driving direction of a target vehicle if the target lane in the preset detection area in the driving direction of the target vehicle has the interfering vehicle, the target lane being an adjacent lane of a current driving lane of the target vehicle; a generation unit configured to generate an avoidance strategy for the target vehicle according to the vehicle information and the lane information, the avoidance strategy being used for the target vehicle to avoid the interfering vehicle during driving; and a control unit configured to control the target vehicle to perform a driving action according to the avoidance strategy.

[0008] According to an aspect of some embodiments of the present application, a computer program product or computer program is provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method described in the above embodiments.

[0009] According to an aspect of some embodiments of the present application, a computer readable storage medium is provided, and a computer program is stored on the computer readable storage medium, the computer program being executed by a processor to implement the method described in the above embodiments.

[0010] According to an aspect of some embodiments of the present application, a vehicle is provided, the vehicle comprising an electronic device, the electronic device comprising one or more processors; and a storage device configured to store one or more programs, the one or more programs, when executed by the one or more processors, causing the one or more processors to implement the method described in the above embodiments.

[0011] Based on the technical solutions provided in the present application, when it is determined that there is an interfering vehicle in a target lane in a preset detection area in a driving direction of a target vehicle, vehicle information of the interfering vehicle and lane information of each lane in the preset detection area are acquired, and an avoidance strategy for the target vehicle to avoid the interfering vehicle during driving is generated, so that the target vehicle can control the target vehicle to perform a driving action according to the avoidance strategy, to avoid a safety risk caused by the interfering vehicle to the target vehicle and improve the safety of vehicle driving.

[0012] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present application. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings, which are incorporated herein and constitute part of this specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application. It is to be understood that the drawings are only schematic, and that they do not necessarily represent a limiting case of the application. In the accompanying drawings:

[0014] FIG. 1 shows a flow chart of a vehicle driving control method according to an embodiment of the application;

[0015] FIG. 2 shows a detailed flow chart of generating an avoidance strategy for the target vehicle according to an embodiment of the application;

[0016] FIG. 3 shows an application scenario according to an embodiment of the application;

[0017] FIG. 4 shows an application scenario according to an embodiment of the application;

[0018] FIG. 5 shows an application scenario according to an embodiment of the application;

[0019] FIG. 6 shows an application scenario according to an embodiment of the application;

[0020] FIG. 7 shows a flow chart of a vehicle driving control method according to an embodiment of the application;

[0021] FIG. 8 shows a block diagram of a vehicle driving control device according to an embodiment of the application;

[0022] FIG. 9 shows a structural schematic diagram of a computer system of an electronic device suitable for implementing the embodiments of the application. DETAILED DESCRIPTION

[0023] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example implementations to those skilled in the art.

[0024] Moreover, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the

[0025] The block diagrams shown in the drawings are merely functional entities, and do not necessarily correspond to physically independent entities. That is, the functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0026] The flowcharts shown in the drawings are merely exemplary illustrations, and do not necessarily include all contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to actual conditions.

[0027] It should be noted that "multiple" referred to herein means two or more. The "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. The character " / " generally represents that the front and rear associated objects are in an "or" relationship.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the objects thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described.

[0029] The implementation details of the technical solutions of the embodiments of the present application are described in detail as follows:

[0030] FIG. 1 shows a flowchart of a vehicle driving control method according to an embodiment of the present application. The vehicle driving control method can be executed by a device having a computing processing function. Referring to FIG. 1, the vehicle driving control method includes at least steps 110 to 130, which are described in detail as follows:

[0031] In step 110, if there is an interfering vehicle in a target lane in a preset detection area in a target vehicle driving direction, vehicle information of the interfering vehicle and lane information of each lane in the preset detection area are acquired, and the target lane is a neighboring lane of a current driving lane of the target vehicle.

[0032] In the present application, the target vehicle can be equipped with radar sensors or visual sensors that can collect image information in a preset detection area in the driving direction of the target vehicle. Through the collected image information, it can be determined whether there is an interfering vehicle in the preset detection area in the driving direction of the target vehicle. The target lane can be the adjacent lane of the current driving lane of the target vehicle, such as the left and right adjacent lanes, and also the left adjacent lane or the right adjacent lane.

[0033] In the present application, the size of the preset detection area can be set according to actual needs, and the preset detection area size set for different vehicle models can be different, which is not limited in the present application.

[0034] In the present application, it needs to be explained that the interfering vehicle can be a large passenger car, a dump truck, a large truck, an oil tank truck, or other motor vehicles that affect the driving safety of the target vehicle.

[0035] In the present application, if there is an interfering vehicle in the target lane in the preset detection area in the driving direction of the target vehicle, it means that the distance between the vehicle around the target vehicle and the target vehicle itself is close. At this time, it is easy to cause a collision accident due to the lane crossing of the interfering vehicle, or to cause a being hit accident due to the object flying out of the interfering vehicle (dumping, goods scattering, window throwing), which affects the driving safety. Therefore, the target vehicle needs to accelerate to overtake or decelerate to avoid the interfering vehicle and avoid risks.

[0036] In some cases, if the driving speed of the interfering vehicle is slow, the present application can take the form of accelerating to overtake to avoid the interfering vehicle. In this case, the present application can first obtain the vehicle information of the interfering vehicle and the lane information of each lane in the preset detection area to provide data support for the subsequent avoidance mode of accelerating to overtake.

[0037] Continuing to refer to FIG. 1, in step 120, an avoidance strategy is generated for the target vehicle according to the vehicle information and the lane information, and the avoidance strategy is used for the target vehicle to avoid the interfering vehicle during driving.

[0038] In the present application, the vehicle information of the interfering vehicle can include the distance between each interfering vehicle in the preset detection area and the target vehicle, and can also include the vehicle size data of the interfering vehicle (such as the length, width and height data of the interfering vehicle), the driving speed of the interfering vehicle, etc.

[0039] In the present application, the lane information of each lane in the preset detection area can include lane width, lane curvature (which can also be lane radius), number of parallel lanes, etc.

[0040] In the present application, an avoidance strategy for avoiding the interfering vehicles during driving can be generated for the target vehicle according to the vehicle information and the lane information. Specifically, the generation of the avoidance strategy for the target vehicle according to the vehicle information and the lane information can be performed according to the steps shown in FIG. 2.

[0041] Referring to FIG. 2, a detailed flowchart for generating the avoidance strategy for the target vehicle according to an embodiment of the present application is shown. The steps are as follows:

[0042] In step 121, the interfering vehicle with the smallest distance from the target vehicle is determined from the interfering vehicles as a target interfering vehicle.

[0043] Specifically, a distance-minimum interfering vehicle can be first determined from the interfering vehicles as a target interfering vehicle according to the distance between each interfering vehicle in the preset detection area and the target vehicle.

[0044] Continuing to refer to FIG. 2, in step 122, an avoidance area is determined in the preset detection area based on the vehicle size of the target interfering vehicle, and the target interfering vehicle is inside the avoidance area.

[0045] In the present application, in order to enable those skilled in the art to better understand the present application, a specific embodiment is described below in combination with FIG. 3.

[0046] Referring to FIG. 3, an application scenario diagram according to an embodiment of the present application is shown.

[0047] As shown in FIG. 3, the driving road of the target vehicle includes three lanes, wherein the current driving lane of the target vehicle is the middle lane of the three lanes, and the driving lane of the interfering vehicle is the right adjacent lane of the current driving lane of the target vehicle.

[0048] In the present application, the avoidance area can be a rectangular avoidance area defined by a target length in the driving direction and a target width perpendicular to the driving direction, which is determined in the preset detection area based on the vehicle size of the target interfering vehicle and the lane width, as shown by the dark rectangular avoidance area in FIG. 3.

[0049] Further, in the present embodiment, the target length can be calculated according to the following formula (1):

[0050]

[0051] wherein L Avoidarea represents the target length, L Obj represents the vehicle length of the target interfering vehicle, and a represents a setting parameter.

[0052] In the present application, it should be pointed out that the parameter a can be set according to actual conditions, such as in FIG. 3, a can be set as 1 / 3+1 / 3=2 / 3, which is not limited in the present application.

[0053] Further, in the present embodiment, the target width can be calculated according to the following formula (2):

[0054]

[0055] Wherein, W avoidarea represents the target width. LaneWide0 represents the lane width of the current driving lane; LaneWide L represents the lane width of one adjacent lane of the current driving lane; LaneWide R represents the lane width of another adjacent lane of the current driving lane.

[0056] In the present application, it should be pointed out that the avoidance area can be a rectangular avoidance area defined by the target length and target width, or other shaped avoidance areas determined according to the size data of the target interfering vehicle. In general, the avoidance area can be an area within a predetermined range around the target interfering vehicle, i.e. the target interfering vehicle is inside the avoidance area.

[0057] In the present application, it should also be pointed out that when it is judged that there is an interfering vehicle in the target lane within the predetermined detection area in the driving direction of the target vehicle, an avoidance area covering the target interfering vehicle can be determined in the driving direction of the target vehicle. In the subsequent time, since the target vehicle and the interfering vehicle are both in the driving process, the positions of the two vehicles are also constantly changing, therefore, the position of the avoidance area also needs to be constantly changed, i.e. the position of the avoidance area can move with the movement of the position of the interfering vehicle.

[0058] Continuing to refer to FIG. 2, in step 123, an avoidance strategy within the avoidance area is generated for the target vehicle according to the lane information.

[0059] In the present application, according to the above scheme, it can be understood that the position of the avoidance area moves with the movement of the position of the target interfering vehicle, i.e. the avoidance area is an area within a certain range around the target interfering vehicle. If the target vehicle is also in this area, it means that the distance between the target vehicle and the interfering vehicle is relatively close, at this time, the risk of safety accidents will also increase, therefore, by generating an avoidance strategy within the avoidance area for the target vehicle, the target vehicle can be assisted to avoid the interfering vehicle in the avoidance area in the subsequent, to avoid risks, and further improve the safety of vehicle driving.

[0060] Further, in one embodiment of the present application, if there is an interfering vehicle in the first lane within the avoidance area, there is no interfering vehicle in the second lane within the avoidance area, and the curvature of the current lane is equal to 0, the avoidance strategy includes: the target vehicle travels in the current lane within the avoidance area according to a first travel trajectory, the first travel trajectory deviates from the center line of the current lane by a first offset distance in a direction away from the first lane, and the first lane and the second lane are adjacent lanes on both sides of the current lane.

[0061] In order for those skilled in the art to better understand the present application, the following will be described in a specific embodiment in combination with FIG. 3.

[0062] In the present application, if the curvature of the current lane of the target vehicle is equal to 0, it means that the current lane is a straight lane, and at this time, if there is an interfering vehicle on either side of the target vehicle, an avoidance strategy in the avoidance area can be generated. Specifically, as shown in FIG. 3, in the avoidance area, there is an interfering vehicle 1 in the adjacent lane on the right side of the target vehicle, and at this time, a travel trajectory deviating from the center line of the current lane by a certain offset distance can be planned for the target vehicle in the avoidance area, so that the target vehicle can move away from the interfering vehicle in the avoidance area, thereby improving the safety of vehicle travel. In this way, when the target vehicle needs to actively avoid the interfering vehicle in the avoidance area subsequently, data support can be provided for controlling the target vehicle to perform avoidance actions.

[0063] Further, in one embodiment of the present application, if there is an interfering vehicle in the first lane within the avoidance area, there is no interfering vehicle in the second lane within the avoidance area, and the curvature of the current lane is less than a preset curvature threshold and greater than the curvature of the first lane, the avoidance strategy includes: the target vehicle travels in the current lane within the avoidance area according to a second travel trajectory, the second travel trajectory deviates from the center line of the current lane by a first offset distance in a direction away from the first lane, and the first lane and the second lane are adjacent lanes on both sides of the current lane.

[0064] In order for those skilled in the art to better understand the present application, the following will be described in a specific embodiment in combination with FIG. 4.

[0065] Referring to FIG. 4, an application scenario according to one embodiment of the present application is shown.

[0066] In the present application, if the curvature of the current lane is less than a preset curvature threshold, and the curvature of the target vehicle's current lane is greater than the curvature of the first lane, it means that the current lane is a curve, i.e., the radius of the target vehicle's current lane is less than the radius of the first lane, i.e., the target vehicle is in the curve of the interfering vehicle. At this time, an evasion strategy in the evasion area can be generated for the target vehicle. Specifically, as shown in FIG. 4, in the avoidance area, there is an interfering vehicle 1 in the adjacent lane to the right of the target vehicle. At this time, a driving trajectory deviating from the center line of the current lane by a certain offset distance can be planned for the target vehicle in the avoidance area, so that the target vehicle can move away from the interfering vehicle in the avoidance area, improving the safety of vehicle driving. In this way, when the target vehicle needs to actively avoid the interfering vehicle in the avoidance area subsequently, data support can be provided for controlling the target vehicle to perform the avoidance action.

[0067] In the embodiments described above, the first offset distance can be calculated according to formula (3) as follows:

[0068]

[0069] wherein Offset1 represents the first offset distance; Offset max represents a preset maximum lateral offset distance value; Offset min represents a preset minimum lateral offset distance value; LaneWide max represents a preset maximum lane width satisfying the vehicle performing the avoidance action; LaneWide min represents a preset minimum lane width satisfying the vehicle performing the avoidance action; and LaneWide0 represents the lane width of the current lane.

[0070] In some embodiments of the present application, the preset maximum lateral offset distance value can be 30 cm ~ 40 cm, preferably, for example, Offset max = 30 cm.

[0071] In some embodiments of the present application, the preset minimum lateral offset distance value can be 10 cm ~ 20 cm, preferably, for example, Offset max = 10 cm.

[0072] In some embodiments of the present application, the preset maximum lane width satisfying the vehicle performing the avoidance action can be 5.5 m ~ 6.5 m, preferably, for example, Offset max = 6 m.

[0073] In some embodiments of the present application, the minimum lane width satisfying the vehicle to perform the evasive action in the pre-calibration can be 3 m ~ 3.5 m, preferably, for example, Offset max = 3 m.

[0074] Further, in an embodiment of the present application, if there is an interfering vehicle in the first lane in the evasive area, there is no interfering vehicle in the second lane in the evasive area, and the curvature of the current lane is greater than or equal to the preset curvature threshold, and the curvature of the current lane is greater than the curvature of the first lane, the evasive strategy includes: the target vehicle travels in the current lane in the evasive area according to a third travel trajectory, the third travel trajectory deviates from the center line of the current lane by a second offset distance in the direction away from the first lane, and the first lane and the second lane are adjacent lanes on both sides of the current lane.

[0075] In order for those skilled in the art to better understand the present application, the following will continue to be described in a specific embodiment in combination with FIG. 4.

[0076] In the present application, if the curvature of the current lane is greater than or equal to the preset curvature threshold, and the curvature of the current lane of the target vehicle is greater than the curvature of the first lane, it means that the current lane is a curve, that is, the radius of the current lane of the target vehicle is less than the radius of the first lane, that is, the target vehicle is in the curve of the interfering vehicle, at this time, an evasive strategy in the evasive area can be generated for the target vehicle. Specifically, as shown in FIG. 4, in the evasive area, there is an interfering vehicle 1 in the adjacent lane on the right side of the target vehicle, at this time, a travel trajectory deviating from the center line of the current lane by a certain offset distance can be planned for the target vehicle in the evasive area, so that the target vehicle can be away from the interfering vehicle in the evasive area, and the safety of vehicle travel is improved. In this way, when the target vehicle needs to actively avoid the interfering vehicle in the evasive area subsequently, data support can be provided for the target vehicle to perform the evasive action.

[0077] In the present application, the second offset distance is positively correlated with the curvature of the current lane, that is, when the curvature of the current lane is greater than or equal to the preset curvature threshold (the degree of curvature of the current lane exceeds a certain degree), the greater the curvature of the current lane (the greater the degree of curvature of the current lane), the greater the lane offset compensation distance of the travel trajectory of the target vehicle in the evasive area.

[0078] In the present application, in the above-mentioned embodiment, the second offset distance can be calculated according to the following formula (4):

[0079]

[0080] wherein, Offset2 represents the second offset distance; Offset max represents a pre-labeled maximum lateral offset distance value; Offset min represents a pre-labeled minimum lateral offset distance value; LaneWide max represents a pre-labeled maximum lane width value satisfying the vehicle to perform the avoidance action; LaneWide min represents a pre-labeled minimum lane width value satisfying the vehicle to perform the avoidance action; LaneWide0 represents the lane width of the current lane; Crv min represents a pre-labeled minimum lane curvature value satisfying the vehicle to compensate for the offset; Crv represents the curvature of the current lane; Offset crv represents a pre-labeled lane offset compensation distance reference value.

[0081] In some embodiments of the present application, the pre-labeled maximum lateral offset distance value can be 30 cm ~ 40 cm, preferably, for example, Offset max = 30 cm.

[0082] In some embodiments of the present application, the pre-labeled minimum lateral offset distance value can be 10 cm ~ 20 cm, preferably, for example, Offset max = 10 cm.

[0083] In some embodiments of the present application, the pre-labeled maximum lane width value satisfying the vehicle to perform the avoidance action can be 5.5 m ~ 6.5 m, preferably, for example, Offset max = 6 m.

[0084] In some embodiments of the present application, the pre-labeled minimum lane width value satisfying the vehicle to perform the avoidance action can be 3 m ~ 3.5 m, preferably, for example, Offset max = 3 m.

[0085] In some embodiments of the present application, the pre-labeled lane offset compensation distance reference value can be 5 cm ~ 15 cm, preferably, for example, Offset crv = 10 cm.

[0086] In some embodiments of the present application, the pre-labeled minimum lane curvature value satisfying the vehicle to compensate for the offset can be 0.001 m -1 ~ 0.00125 m -1 , preferably, for example, Crv min = 0.001 m -1 .

[0087] In the present application, the safety risk is greater when the target vehicle approaches the interfering vehicle in the case of a greater degree of lane curvature. At this time, by adding a lane offset compensation distance, the target vehicle can avoid the interfering vehicle by increasing the degree of the target vehicle moving away from the interfering vehicle in the case of a greater degree of lane curvature, thereby avoiding risks and improving the safety of vehicle driving.

[0088] It should be noted that the lane offset compensation distance can be limited to between 30 cm and 40 cm, i.e., the lane offset compensation distance cannot be increased indefinitely as the degree of lane curvature increases. Preferably, = 30 cm.

[0089] Further, in an embodiment of the present application, if there is an interfering vehicle in the first lane within the avoidance area, there is no interfering vehicle in the second lane within the avoidance area, and the curvature of the current driving lane is less than the curvature of the first lane, the avoidance strategy includes: the target vehicle drives in the current driving lane within the avoidance area according to a fourth driving trajectory, the fourth driving trajectory coincides with the center line of the current driving lane, and the first lane and the second lane are adjacent lanes on both sides of the current driving lane.

[0090] In order for those skilled in the art to better understand the present application, a specific embodiment will be described below with reference to FIG. 5.

[0091] Referring to FIG. 5, a scene application diagram according to an embodiment of the present application is shown.

[0092] In the present application, if the curvature of the current driving lane of the target vehicle is less than the curvature of the first lane, it means that the current driving lane is a curve, i.e., the radius of the current driving lane of the target vehicle is greater than the radius of the first lane, i.e., the target vehicle is outside the curve of the interfering vehicle. At this time, an avoidance strategy within the avoidance area can be generated for the target vehicle. Specifically, as shown in FIG. 5, within the avoidance area, there is an interfering vehicle 1 in the adjacent lane to the right of the target vehicle. At this time, a driving trajectory that coincides with the center line of the current driving lane can be planned for the target vehicle within the avoidance area, so as to avoid the reduction of user experience caused by the feeling of insecurity of the driver when the target vehicle approaches the outside of the curve. In this way, when the target vehicle needs to actively avoid the interfering vehicle within the avoidance area subsequently, data support can be provided for the control of the target vehicle to perform avoidance actions.

[0093] Further, in an embodiment of the present application, if there is an interfering vehicle in each of the first lane and the second lane within the rectangular evasion area, the evasion strategy includes that the target vehicle travels in a fifth travel trajectory in the current travel lane of the target vehicle within the evasion area, the fifth travel trajectory coincides with the center line of the current travel lane, and the first lane and the second lane are adjacent lanes on both sides of the current travel lane.

[0094] In order for those skilled in the art to better understand the present application, the following is an embodiment in conjunction with FIG. 6.

[0095] Referring to FIG. 6, a scene diagram according to an embodiment of the present application is shown.

[0096] In the present application, if there is an interfering vehicle in each of the first lane and the second lane within the rectangular evasion area, an evasion strategy for the target vehicle within the evasion area can be generated at this time. Specifically, as shown in FIG. 6, within the evasion area, there is an interfering vehicle 1 in the adjacent lane on the right side of the target vehicle, and there is an interfering vehicle 2 in the adjacent lane on the left side of the target vehicle. At this time, a travel trajectory that coincides with the center line of the current travel lane can be planned for the target vehicle within the evasion area, so as to avoid the reduction of user experience caused by the unsafe feeling of the driver due to the proximity of any side interfering vehicle. In this way, when the target vehicle needs to actively evade the interfering vehicle within the evasion area subsequently, data support can be provided for the control of the target vehicle to perform evasion actions.

[0097] Continuing to refer to FIG. 1, in step 130, the target vehicle is controlled to perform a travel action according to the evasion strategy.

[0098] In the present application, it should be noted that when it is determined that there is an interfering vehicle in the target lane within the preset detection area in the travel direction of the target vehicle, an evasion area covering the target interfering vehicle can be determined in the travel direction of the target vehicle. In the following time, since the target vehicle and the interfering vehicle are both in the process of traveling, the positions of the two are also constantly changing, and therefore the position of the evasion area also needs to constantly change, i.e., the position of the evasion area can move with the movement of the position of the interfering vehicle. It can be understood that the vehicle information of the interfering vehicle and the lane information of each lane within the preset detection area are also constantly changing, and therefore the evasion strategy generated for the target vehicle according to the vehicle information and the lane information is also constantly changing.

[0099] In the present application, the target vehicle can be controlled to perform the avoidance strategy in the avoidance area according to the avoidance strategy. Specifically, since the target vehicle and the interfering vehicle are both in the process of driving, the avoidance area determined for the target vehicle and the avoidance strategy in the avoidance area are both changing. At any moment, if it is detected that the target vehicle does not drive into the avoidance area, the target vehicle does not need to be controlled to perform the driving action according to the avoidance strategy. If it is detected that the target vehicle drives into the avoidance area, the target vehicle is controlled to perform the driving action according to the avoidance strategy. In other words, when the target vehicle does not drive into the avoidance area, it indicates that the closeness between the target vehicle and the interfering vehicle does not cause a large safety risk. Only when the target vehicle drives into the avoidance area, it indicates that the closeness between the target vehicle and the interfering vehicle has caused a large safety risk. At this time, the target vehicle needs to be controlled to perform the driving action according to the avoidance strategy.

[0100] In the present application, when it is judged that there is an interfering vehicle in the target lane in the preset detection area in the driving direction of the target vehicle, an avoidance area surrounding the interfering vehicle is determined and continuously updated, so that the avoidance area can be used to describe and limit the area with a high safety risk. At the same time, the avoidance strategy for the target vehicle to perform in the avoidance area is generated and continuously updated, so that the target vehicle can be controlled to perform the avoidance strategy in the avoidance area according to the avoidance strategy, that is, when the target vehicle drives into the avoidance area, the target vehicle is controlled to perform the driving action according to the avoidance strategy, which can avoid the interfering vehicle to a certain extent. In this way, the large safety risk can be avoided, and the safety of vehicle driving can be improved.

[0101] In order for those skilled in the art to better understand the present application, a specific embodiment will be described below with reference to FIG. 7.

[0102] Referring to FIG. 7, a flowchart of a vehicle driving control method according to an embodiment of the present application is shown.

[0103] As shown in FIG. 7, first, scene recognition is performed according to the position and size of the interfering vehicle detected by the vehicle perception system, the lane width and the lane curvature, the avoidance area is calculated, and it is judged whether the target vehicle enters the avoidance area. If not, continue to detect. If yes, it is judged whether the target vehicle needs to perform the offset avoidance action. If not, continue to detect. If yes, the vehicle is controlled to perform the offset avoidance action in the avoidance area according to the offset distance.

[0104] The technical solution provided in the application is suitable for intelligent driving scenarios of a vehicle, such as unmanned driving scenarios or assisted driving scenarios. In these scenarios, when it is determined that there is an interfering vehicle in a target lane in a preset detection region in a driving direction of a target vehicle, vehicle information of the interfering vehicle and lane information of each lane in the preset detection region are obtained, an avoidance strategy for the target vehicle to avoid the interfering vehicle in a driving process is generated, so that the target vehicle can control the target vehicle to perform a driving action according to the avoidance strategy, to avoid a safety risk of the target vehicle caused by the interfering vehicle, and improve the safety of vehicle driving.

[0105] The device embodiment of the application is introduced below, which can be used to execute the vehicle driving control method in the above-mentioned embodiments of the application. For details not disclosed in the device embodiment of the application, refer to the above-mentioned embodiments of the vehicle driving control method.

[0106] FIG. 8 shows a block diagram of a vehicle driving control device according to an embodiment of the application.

[0107] Referring to FIG. 8, the vehicle driving control device 800 according to an embodiment of the application includes an obtaining unit 801, a generating unit 802, and a control unit 803.

[0108] The obtaining unit 801 is configured to, if there is an interfering vehicle in a target lane in a preset detection region in a driving direction of a target vehicle, obtain vehicle information of the interfering vehicle and lane information of each lane in the preset detection region, the target lane being an adjacent lane of a current driving lane of the target vehicle. The generating unit 802 is configured to generate an avoidance strategy for the target vehicle according to the vehicle information and the lane information, the avoidance strategy being used for the target vehicle to avoid the interfering vehicle in a driving process. The control unit 803 is configured to control the target vehicle to perform a driving action according to the avoidance strategy.

[0109] In some embodiments of the application, based on the foregoing scheme, the vehicle information includes distances between each interfering vehicle and the target vehicle in the preset detection region, and vehicle sizes of each interfering vehicle. The generating unit 802 is configured to determine, from each interfering vehicle, an interfering vehicle with the smallest distance to the target vehicle as a target interfering vehicle, determine an avoidance region in the preset detection region based on the vehicle size of the target interfering vehicle, and generate an avoidance strategy for the target vehicle in the avoidance region according to the lane information.

[0110] In some embodiments of the present application, based on the foregoing scheme, the avoidance area is a rectangular avoidance area defined by a target length in a driving direction and a target width perpendicular to the driving direction.

[0111] In some embodiments of the present application, based on the foregoing scheme, the target length is calculated according to the following formula:

[0112]

[0113] wherein L Avoidarea represents the target length; L Obj represents a vehicle length of the target interfering vehicle, and a represents a set parameter.

[0114] In some embodiments of the present application, based on the foregoing scheme, the target width is calculated according to the following formula:

[0115]

[0116] wherein W avoidarea represents the target width; LaneWide0 represents a lane width of the current driving lane; LaneWide L represents a lane width of one adjacent lane of the current driving lane; LaneWide R represents a lane width of another adjacent lane of the current driving lane.

[0117] In some embodiments of the present application, based on the foregoing scheme, if there is an interfering vehicle in a first lane within the avoidance area, there is no interfering vehicle in a second lane within the avoidance area, and the curvature of the current driving lane is equal to 0, the avoidance strategy comprises: the target vehicle drives in the current driving lane within the avoidance area according to a first driving track, the first driving track deviates from a center line of the current driving lane by a first offset distance in a direction away from the first lane, and the first lane and the second lane are adjacent lanes on both sides of the current driving lane.

[0118] In some embodiments of the present application, based on the foregoing scheme, if there is an interfering vehicle in a first lane within the avoidance area, there is no interfering vehicle in a second lane within the avoidance area, and the curvature of the current driving lane is less than a preset curvature threshold and greater than the curvature of the first lane, the avoidance strategy comprises: the target vehicle drives in the current driving lane within the avoidance area according to a second driving track, the second driving track deviates from a center line of the current driving lane by a first offset distance in a direction away from the first lane, and the first lane and the second lane are adjacent lanes on both sides of the current driving lane.

[0119] In some embodiments of the application, based on the foregoing scheme, the first offset distance is calculated according to the following formula:

[0120]

[0121] wherein Offset1 represents the first offset distance; Offset max represents a pre-labeled maximum lateral offset distance value; Offset min represents a pre-labeled minimum lateral offset distance value; LaneWide max represents a pre-labeled maximum lane width that satisfies the vehicle to perform the avoidance action; LaneWide min represents a pre-labeled minimum lane width that satisfies the vehicle to perform the avoidance action; LaneWide0 represents the lane width of the current lane.

[0122] In some embodiments of the application, based on the foregoing scheme, if there is an interfering vehicle in the first lane within the avoidance area, there is no interfering vehicle in the second lane within the avoidance area, and the curvature of the current lane is greater than or equal to a preset curvature threshold, and the curvature of the current lane is greater than the curvature of the first lane, the avoidance strategy includes: the target vehicle travels in the current lane within the avoidance area according to a third travel trajectory, the third travel trajectory deviates from the center line of the current lane by a second offset distance in a direction away from the first lane, and the first lane and the second lane are adjacent lanes on both sides of the current lane.

[0123] In some embodiments of the application, based on the foregoing scheme, the second offset distance is positively correlated with the curvature of the current lane.

[0124] In some embodiments of the application, based on the foregoing scheme, the second offset distance is calculated according to the following formula:

[0125]

[0126] wherein Offset2 represents the second offset distance; Offset max represents a pre-labeled maximum lateral offset distance value; Offset min represents a pre-labeled minimum lateral offset distance value; LaneWide max represents a pre-labeled maximum lane width that satisfies the vehicle to perform the avoidance action; LaneWide min represents a pre-labeled minimum lane width that satisfies the vehicle to perform the avoidance action; LaneWide0 represents the lane width of the current lane. Crv minrepresents a pre-labeled minimum lane curvature value satisfying a vehicle compensation offset; Crv represents a curvature of the current lane; Offset crv represents a pre-labeled lane offset compensation distance reference value.

[0127] In some embodiments of the present application, based on the foregoing scheme, if there is an interfering vehicle in the first lane within the avoidance area, there is no interfering vehicle in the second lane within the avoidance area, and the curvature of the current lane is smaller than the curvature of the first lane, the avoidance strategy includes: the target vehicle travels in the current lane within the avoidance area according to a fourth travel trajectory, the fourth travel trajectory coincides with the center line of the current lane, and the first lane and the second lane are adjacent lanes on both sides of the current lane, respectively.

[0128] In some embodiments of the present application, based on the foregoing scheme, if there is an interfering vehicle in the first lane within the avoidance area, there is no interfering vehicle in the second lane within the avoidance area, and the curvature of the current lane is smaller than the curvature of the first lane, the avoidance strategy includes: the target vehicle travels in the current lane within the avoidance area according to a fourth travel trajectory, the fourth travel trajectory coincides with the center line of the current lane, and the first lane and the second lane are adjacent lanes on both sides of the current lane, respectively.

[0129] As another embodiment of the present application, a computer program product or computer program is also provided, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to enable the computer device to perform the method described in the above embodiments.

[0130] Based on the same inventive concept, the embodiments of the present application also provide a vehicle, which includes an electronic device. Referring to FIG. 9, a structural schematic diagram of an electronic device in an embodiment of the present application is shown, which includes one or more memories 904, one or more processors 902, and at least one computer program (program code) stored in the memory 904 and executable on the processor 902, and the processor 902 implements the method as described above when executing the computer program.

[0131] In FIG. 9, a bus architecture, represented generally by the bus 900, can include any number of interconnected buses and bridges, the bus 900 linking together various circuits including one or more processors represented by the processor 902 and memory represented by the memory 904. The bus 900 can also link together various other circuits such as peripheral devices, voltage stabilizers and power management circuits, which are well known in the art, and therefore, further description thereof will not be provided herein. The bus interface 905 provides an interface between the bus 900 and the receiver 901 and the transmitter 903. The receiver 901 and the transmitter 903 can be the same element, i.e., a transceiver, providing a means for communicating with various other apparatuses over a transmission medium. The processor 902 is responsible for managing the bus 900 and general processing, while the memory 904 can be used for storing data used by the processor 902 in performing operations.

[0132] As another embodiment of the present application, a computer readable storage medium is also provided, which can be included in the electronic device described in the above embodiments, or can exist separately without being assembled into the electronic device. The computer readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to implement the method described in the above embodiments.

[0133] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored on or transferred over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the disclosure and appended claims. For example, due to the nature of software, functions described above can be implemented using software executed by a processor, hardware, firmware, hardwiring, or combinations of any of these. Features implementing functions can also be physically located at various positions, including being distributed such that portions of functions are implemented at different physical locations. Also, as technology evolves, the "functionalities" described can be implemented by various combinations of digital and / or analog circuitry, which are not necessarily related exclusively to software programs.

[0134] In several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division mode, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between units or modules, which can be electrical or other forms.

[0135] The units described as separate components can or can not be physically separate, and the components of the control device can or can not be physical units, i.e., can be located in one place or can be distributed to multiple units. Part or all of the units can be selected as needed to achieve the purposes of the embodiments.

[0136] The integrated units, if implemented in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application, the essential part or the contribution to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0137] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

Claims

1. A vehicle driving control method, comprising: if there is an interfering vehicle in a target lane in a preset detection area in a target vehicle driving direction, obtaining vehicle information of the interfering vehicle and lane information of each lane in the preset detection area, the target lane being a neighboring lane of a current driving lane of the target vehicle; generating an avoidance strategy for the target vehicle according to the vehicle information and the lane information, the avoidance strategy being used for the target vehicle to avoid the interfering vehicle during driving; controlling the target vehicle to perform a driving action according to the avoidance strategy.

2. The method of claim 1, wherein, The vehicle information comprises a distance between each interfering vehicle and the target vehicle in the preset detection area, and a vehicle size of each interfering vehicle, and the generating of the avoidance strategy for the target vehicle according to the vehicle information and the lane information comprises: determining an interfering vehicle with a minimum distance to the target vehicle from the interfering vehicles as a target interfering vehicle; determining an avoidance area in the preset detection area based on the vehicle size of the target interfering vehicle, the target interfering vehicle being inside the avoidance area; generating an avoidance strategy for the target vehicle in the avoidance area according to the lane information.

3. The method of claim 2, wherein, The avoidance area is a rectangular avoidance area defined by a target length in the driving direction and a target width perpendicular to the driving direction.

4. The method of claim 3, wherein, The target length is calculated according to the following formula: wherein L Avoidarea represents the target length; L Obj represents the vehicle length of the target interfering vehicle, and a represents a set parameter.

5. The method of claim 3, wherein, The target width is calculated according to the following formula: wherein W avoidarea represents the target width; LaneWide0 represents the lane width of the current lane; LaneWide L represents the lane width of one adjacent lane of the current lane; LaneWide R represents the lane width of another adjacent lane of the current lane.

6. The method of claim 2, wherein, if there is an interfering vehicle in a first lane in the avoidance area, there is no interfering vehicle in a second lane in the avoidance area, and a curvature of the current driving lane is equal to 0, the avoidance strategy comprises: the target vehicle drives in the current driving lane in the avoidance area according to a first driving track, the first driving track deviates from a center line of the current driving lane by a first offset distance in a direction away from the first lane, the first lane and the second lane being neighboring lanes on two sides of the current driving lane respectively.

7. The method of claim 2, wherein, if there is an interfering vehicle in a first lane in the avoidance area, there is no interfering vehicle in a second lane in the avoidance area, and a curvature of the current driving lane is less than a preset curvature threshold, and the curvature of the current driving lane is greater than a curvature of the first lane, the avoidance strategy comprises: the target vehicle drives in the current driving lane in the avoidance area according to a second driving track, the second driving track deviates from a center line of the current driving lane by a first offset distance in a direction away from the first lane, the first lane and the second lane being neighboring lanes on two sides of the current driving lane respectively.

8. The method of claim 6 or 7, wherein, The first offset distance is calculated according to the following formula: Where Offset1 represents the first offset distance; Offset max This represents the pre-calibrated maximum lateral offset distance value; Offset min Indicates the pre-calibrated minimum lateral offset distance value; LaneWide max This indicates the pre-defined maximum lane width required for vehicles to perform avoidance maneuvers; LaneWide min This indicates the pre-defined minimum lane width required for a vehicle to perform a yield maneuver; LaneWide0 indicates the lane width of the currently traveling lane.

9. The method of claim 2, wherein, if there is an interfering vehicle in a first lane in the avoidance area, there is no interfering vehicle in a second lane in the avoidance area, and a curvature of the current driving lane is greater than or equal to a preset curvature threshold, and the curvature of the current driving lane is greater than a curvature of the first lane, the avoidance strategy comprises: The target vehicle travels in a third travel trajectory in a current travel lane within the avoidance area, the third travel trajectory deviates from a center line of the current travel lane by a second offset distance in a direction away from the first lane and the second lane, the first lane and the second lane being adjacent lanes on two sides of the current travel lane.

10. The method of claim 9, wherein, The second offset distance is positively correlated with a curvature of the current travel lane.

11. The method of claim 10, wherein, The second offset distance is calculated according to the following formula: wherein offset2 represents the second offset distance; Offset max represents a pre-labeled maximum lateral offset distance value; Offset min represents a pre-labeled minimum lateral offset distance value; LaneWide max represents a pre-labeled maximum lane width value that satisfies the vehicle to perform an avoidance action; LaneWide min represents a pre-labeled minimum lane width value that satisfies the vehicle to perform an avoidance action; LaneWide0 represents the lane width of the current lane; Crv min represents a pre-labeled minimum lane curvature value that satisfies the vehicle to compensate for the offset; Crv represents the curvature of the current lane; Offset crv represents a pre-labeled lane offset compensation distance reference value.

12. The method of claim 2, wherein, If there is an interfering vehicle in the first lane within the avoidance area, there is no interfering vehicle in the second lane within the avoidance area, and the curvature of the current travel lane is smaller than the curvature of the first lane, the avoidance strategy includes: The target vehicle travels in a fourth travel trajectory in a current travel lane within the avoidance area, the fourth travel trajectory coincides with a center line of the current travel lane, the first lane and the second lane being adjacent lanes on two sides of the current travel lane.

13. The method of claim 2, wherein, If there is an interfering vehicle in the first lane and the second lane within the avoidance area, the avoidance strategy includes: The target vehicle travels in a fifth travel trajectory in a current travel lane within the avoidance area, the fifth travel trajectory coincides with a center line of the current travel lane, the first lane and the second lane being adjacent lanes on two sides of the current travel lane.

14. A vehicle travel control device, the device comprising: an acquisition unit configured to acquire vehicle information of an interfering vehicle and lane information of each lane within a preset detection area in a target lane in a travel direction of a target vehicle if the interfering vehicle exists in the target lane, the target lane being an adjacent lane of a current travel lane of the target vehicle; a generation unit configured to generate an avoidance strategy for the target vehicle according to the vehicle information and the lane information, the avoidance strategy being used for the target vehicle to avoid the interfering vehicle during travel; a control unit configured to control the target vehicle to perform a travel action according to the avoidance strategy.

15. A computer program product, the computer program product comprising computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method of any one of claims 1 to 13.

16. A vehicle, the vehicle comprising an electronic device, the electronic device comprising one or more processors and one or more memories, at least one program code being stored in the one or more memories, the at least one program code being loaded and executed by the one or more processors to implement the method of any one of claims 1 to 13.

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