Vehicle and driving control method therefor, electronic device, and computer-readable storage medium

Abstract

A vehicle, a vehicle driving control method, an electronic device (200), and a computer-readable storage medium. The vehicle driving control method comprises: determining that a vehicle is driving side-by-side with a large vehicle; and controlling the vehicle to use an acceleration-overtaking mode to overtake said large vehicle.

Description

Vehicle, vehicle driving control method, electronic device and computer readable storage medium

[0001] Priority information

[0002] The present application claims priority to and the benefit of the filing date of the patent application with the China National Intellectual Property Office on August 6, 2024, with the patent application number of “202411071150.1”, and incorporates it herein in its entirety by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of vehicles, and in particular to a vehicle driving control method, an electronic device, a vehicle and a computer readable storage medium. BACKGROUND

[0004] The side-by-side large vehicle scenario is a common scenario in vehicle driving, and how to control the vehicle to drive in this scenario is a problem to be solved in the field of intelligent driving. The strategy commonly used in the prior art is the lateral avoidance method. The lateral avoidance method is to control the vehicle to deviate laterally in the lane or to adopt lane changing driving and the like when the vehicle encounters the side-by-side large vehicle scenario, so as to increase the lateral safety distance.

[0005] However, when the lateral avoidance method is adopted, the vehicle will still drive side by side with the large vehicle, which has a safety hazard. Moreover, in some scenarios, such as the narrow lane, one side guardrail and the other side large vehicle scenario and the two sides large vehicle scenario, the problem of the side-by-side large vehicle scenario cannot be effectively solved. SUMMARY

[0006] The present application aims to at least solve one of the technical problems in the related art to some extent. To this end, the first object of the present application is to provide a vehicle driving control method, which determines that the vehicle is in a side-by-side large vehicle scenario, and controls the vehicle to adopt an acceleration overtaking mode to overtake the target large vehicle driving side by side, thereby ensuring the safety of the driver and passengers, improving the traffic efficiency and improving the user's sense of security.

[0007] The second object of the present application is to provide a vehicle driving control device.

[0008] The third object of the present application is to provide an electronic device.

[0009] The fourth object of the present application is to provide a vehicle.

[0010] The fifth object of the present application is to provide a computer readable storage medium.

[0011] The sixth object of the present application is to provide a computer program product.

[0012] To achieve the above object, the first aspect of the present application provides a vehicle driving control method, which comprises: determining that a vehicle is in a side-by-side scenario with a large vehicle; and controlling the vehicle to overtake a target large vehicle running side by side in an acceleration overtaking mode.

[0013] According to the vehicle driving control method of the present application, the vehicle is first determined to be in a side-by-side scenario with a large vehicle, and then the vehicle is controlled to overtake a target large vehicle running side by side in an acceleration overtaking mode. Thus, the method can ensure the safety of the passengers, improve the traffic efficiency, and improve the user's sense of security.

[0014] In addition, the vehicle driving control method according to the above embodiments of the present application can have the following additional technical features:

[0015] According to an embodiment of the present application, the vehicle is in a side-by-side scenario with a large vehicle, which includes that there is a target large vehicle in the adjacent lane of the vehicle, and the distance between the front of the vehicle and the tail of the target large vehicle is less than or equal to a first preset distance.

[0016] According to an embodiment of the present application, before the vehicle is controlled to overtake a target large vehicle running side by side in an acceleration overtaking mode, the method further comprises: determining that the vehicle satisfies a vehicle acceleration overtaking condition.

[0017] According to an embodiment of the present application, the vehicle acceleration overtaking condition includes at least one of the following: there is an acceleration space in front of the vehicle, the current speed value of the vehicle satisfies a preset speed range, the current speed of the vehicle reaches a target speed, the current speed difference between the vehicle and the large vehicle satisfies a preset speed difference range, the current speed of the vehicle reaches the target speed for a duration greater than a preset duration, the position of the vehicle satisfies a preset position condition, and the current speed value of the vehicle is not greater than a speed limit value.

[0018] According to an embodiment of the present application, the control of the vehicle to overtake a target large vehicle running side by side in an acceleration overtaking mode comprises: controlling the vehicle to accelerate to a first overtaking speed and travel to the tail of the vehicle to overtake the target large vehicle by a second preset distance.

[0019] According to an embodiment of the present application, the target large vehicle is one or more.

[0020] According to an embodiment of the present application, the first overtaking speed is the minimum speed value in a limit speed combination.

[0021] According to an embodiment of the present application, the limit speed combination includes at least one of the following: a preset multiple of the target speed, a preset multiple of the current lane speed limit, a set vehicle speed value, and a curvature speed limit value.

[0022] According to one embodiment of the present application, the speed limit combination comprises at least one of the following: a preset multiple of the target vehicle speed, a preset multiple of the current lane speed limit, a set vehicle speed value, a curvature speed limit value, and a road speed limit value.

[0023] According to one embodiment of the present application, the road speed limit value comprises an interval speed limit value or an electronic eye speed limit value.

[0024] According to one embodiment of the present application, the method further comprises: when an acceleration overtaking exit condition is met, controlling the vehicle to exit the acceleration overtaking mode.

[0025] According to one embodiment of the present application, the acceleration overtaking exit condition comprises at least one of the following: a driver intervention behavior, a target large vehicle acceleration satisfying a first preset condition, a target large vehicle deceleration satisfying a second preset condition, and an acceleration space not being satisfied.

[0026] According to one embodiment of the present application, the driver intervention behavior comprises a manual deceleration adjustment by the driver or active control during driver-assisted driving.

[0027] According to one embodiment of the present application, the method further comprises: after the vehicle exits the acceleration overtaking mode for a preset time threshold, re-determining whether the vehicle satisfies a vehicle acceleration overtaking condition.

[0028] According to one embodiment of the present application, the method further comprises: prompting, on the vehicle instrument panel and the vehicle central control screen, that the vehicle is in the acceleration overtaking mode.

[0029] According to one embodiment of the present application, the method further comprises: when the vehicle overtakes the target large vehicle in the acceleration overtaking mode, controlling the vehicle lights to perform at least one of high-beam and low-beam light flashing.

[0030] To achieve the above object, a second aspect of the present application provides a vehicle driving control device, comprising: a scene determination module configured to determine that a vehicle is in a large vehicle side-by-side scene; and a vehicle control module configured to control the vehicle to overtake a target large vehicle in a side-by-side driving mode in an acceleration overtaking mode.

[0031] The vehicle driving control device according to the embodiments of the present application, the scene determination module is configured to determine that the vehicle is in a large vehicle side-by-side scene, and the vehicle control module is configured to control the vehicle to overtake a target large vehicle in a side-by-side driving mode in an acceleration overtaking mode. Thus, the device can ensure the safety of the driver and passengers, improve the traffic efficiency, and improve the user's sense of security.

[0032] To achieve the above object, the electronic device according to the third aspect of the present application comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the vehicle driving control method.

[0033] The electronic device according to the embodiment of the present application can ensure the safety of the driver and passengers, improve the traffic efficiency and improve the user's sense of security by executing the steps of the vehicle driving control method.

[0034] To achieve the above object, the vehicle according to the fourth aspect of the present application comprises the electronic device.

[0035] The vehicle according to the embodiment of the present application can ensure the safety of the driver and passengers, improve the traffic efficiency and improve the user's sense of security by executing the electronic device.

[0036] To achieve the above object, the computer readable storage medium according to the fifth aspect of the present application stores programs or instructions, and the programs or instructions are executed by the processor to implement the steps of the vehicle driving control method.

[0037] The computer readable storage medium according to the embodiment of the present application can ensure the safety of the driver and passengers, improve the traffic efficiency and improve the user's sense of security by executing the vehicle driving control method.

[0038] To achieve the above object, the computer program product according to the sixth aspect of the present application is executed by the processor of the vehicle to implement the steps of the vehicle driving control method.

[0039] The computer program product according to the embodiment of the present application can ensure the safety of the driver and passengers, improve the traffic efficiency and improve the user's sense of security by executing the vehicle driving control method.

[0040] Additional aspects and advantages of the present application will be made apparent by the following description of embodiments thereof, given as a non-restrictive example, with reference to the annexed drawings, in which: BRIEF DESCRIPTION OF DRAWINGS

[0041] The above and / or additional aspects and advantages of the present application will become apparent and be more readily understood from the following description, by way of example, with reference to the drawings, in which:

[0042] Fig. 1 is a flow chart of a vehicle driving control method according to an embodiment of the present application;

[0043] Fig. 2 is a flow chart of a vehicle driving control method according to one specific example of the present application;

[0044] FIG. 3 is a block schematic diagram of a vehicle travel control device according to an embodiment of the present application;

[0045] FIG. 4 is a block schematic diagram of an electronic device according to an embodiment of the present application;

[0046] FIG. 5 is a block schematic diagram of a vehicle according to an embodiment of the present application;

[0047] FIG. 6 is a structural schematic diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which like or similar elements are denoted by like or similar reference symbols throughout the drawings. The embodiments described below are exemplary, and are intended to explain the present application, and are not to be understood as limiting the present application.

[0049] A vehicle travel control method, a vehicle travel control device, an electronic device, a vehicle, a computer readable storage medium and a computer program product according to embodiments of the present application are described below with reference to the accompanying drawings.

[0050] FIG. 1 is a flowchart of a vehicle travel control method according to an embodiment of the present application.

[0051] As shown in FIG. 1, the vehicle travel control method according to an embodiment of the present application can include the following steps:

[0052] S1, determining that the vehicle is in a scenario of driving alongside a large vehicle.

[0053] S2, controlling the vehicle to overtake a target large vehicle driving alongside by accelerating.

[0054] Specifically, in the process of vehicle travel, for example, the vehicle is currently in a high-speed NOA (Navigate on Autopilot) state, and the vehicle is in an automatic driving state. If there is a large vehicle in the adjacent lane at this time, and the current vehicle speed is the same as or close to the speed of the large vehicle, the vehicle (ego vehicle) will drive alongside the large vehicle for a long time, which will cause a safety hazard and will give the user a sense of oppression, and does not conform to the driving habit. Therefore, in the case of determining that the vehicle is in a scenario of driving alongside a large vehicle, the vehicle can be controlled to overtake a target large vehicle driving alongside by accelerating. That is, in the case of starting the accelerating overtaking mode, the engine or motor of the vehicle will increase the output according to the instruction to increase the vehicle speed, so as to overtake the target large vehicle driving alongside.

[0055] The vehicle can be equipped with various sensors such as radar, lidar, camera, etc. for monitoring the surrounding environment. The vehicle can detect other vehicles around the vehicle through these sensors, and determine the positions and speeds of the other vehicles. If it is detected that other vehicles are driving side by side with the ego vehicle, the types of these vehicles (such as large vehicles) are further analyzed. Large vehicles can be divided into large trailers, vans, pick-ups, small trucks, special-shaped vehicles, medium-sized passenger cars, etc. by type definition, or can be defined by size, such as vehicle length, width and height ≥ 8000mm*2500mm*3000mm (any one condition is met). The type of the large vehicle driving side by side can be identified by using image recognition technology, and it is determined whether it is a large vehicle. Once the large vehicle is identified, it is taken as the target of overtaking.

[0056] Thus, by controlling the vehicle to adopt the acceleration overtaking mode to overtake the target large vehicle driving side by side, the traffic efficiency of the road can be improved, and the safety of the driver and passenger can be ensured, and the user's sense of security can be improved.

[0057] According to an embodiment of the present application, the vehicle is in a large vehicle side-by-side scenario, including that there is a target large vehicle in the adjacent lane of the vehicle, and the distance between the front of the vehicle and the tail of the target large vehicle is less than or equal to a first preset distance. The first preset distance can be determined according to actual conditions.

[0058] Specifically, in the case of determining whether the vehicle is in a large vehicle side-by-side scenario, the vehicle and the large vehicle can be jointly determined from the two dimensions of the lateral and longitudinal directions. For example, whether there is a large vehicle is determined from the lateral angle. In the process of driving forward, if it is determined by the camera or radar that there is a target large vehicle in the adjacent lane of the vehicle, it can be further determined whether the target large vehicle is driving side by side from the longitudinal angle, that is, the distance between the front of the vehicle and the tail of the target large vehicle is determined. For example, if the distance between the front of the vehicle and the tail of the target large vehicle is less than or equal to the first preset distance, it means that the distance between the front of the vehicle and the tail of the target large vehicle is small, and the current vehicle is driving side by side. The first preset distance can be selected as 5-15 meters according to the length of the vehicle and the target large vehicle, etc.

[0059] For example, if the first preset distance is 10 meters, and if there is a target large vehicle in the adjacent lane of the vehicle, and the distance between the front of the vehicle and the tail of the target large vehicle is less than or equal to 10 meters, it means that the current vehicle and the target large vehicle are driving side by side or will be driving side by side, and it can be determined that the vehicle is in a large vehicle side-by-side scenario.

[0060] According to an embodiment of the present application, before controlling the vehicle to adopt the acceleration overtaking mode to overtake the target large vehicle driving side by side, it further includes determining that the vehicle satisfies the vehicle acceleration overtaking condition.

[0061] Specifically, before controlling the vehicle to overtake the target large vehicle in the acceleration overtaking mode, in order to ensure the safety and compliance of overtaking, it can be determined whether the vehicle meets the vehicle acceleration overtaking condition, that is, by determining in advance that the vehicle meets the acceleration overtaking condition, it can be avoided to overtake under inappropriate conditions, thereby reducing the risk of traffic accidents, for example, considering the electronic eye monitoring speed limit and other traffic rules, ensuring that the vehicle meets the vehicle acceleration overtaking condition without violating traffic rules. Only in the case where it is determined that the vehicle meets the vehicle acceleration overtaking condition, the vehicle is controlled to overtake the target large vehicle in the acceleration overtaking mode, thereby ensuring the safety of driving.

[0062] According to an embodiment of the present application, the vehicle acceleration overtaking condition comprises at least one of: an acceleration space existing in front of the vehicle, a current speed value of the vehicle meeting a preset speed range, a current speed of the vehicle reaching a target vehicle speed, a current speed difference between the vehicle and the large vehicle meeting a preset speed difference range, a duration for which the current speed of the vehicle reaches the target vehicle speed being greater than a preset duration, a position of the vehicle meeting a preset position condition, and the current speed value of the vehicle being not greater than a speed limit value. The preset speed range, the preset speed difference range, the preset duration, and the preset position condition can be determined according to actual conditions.

[0063] Specifically, the vehicle acceleration overtaking condition comprises an acceleration space existing in front of the vehicle, which means that there is enough space in front of the vehicle for the vehicle to accelerate and complete the overtaking operation. For example, by shooting the width of the road in front of the vehicle, whether there are obstacles, etc., when the road width is wide, there is no lateral obstacle intrusion, etc., it can be determined that there is an acceleration space in front of the vehicle to ensure that no collision occurs during acceleration.

[0064] The vehicle acceleration overtaking condition also comprises a current speed value of the vehicle meeting a preset speed range, that is, the current speed of the vehicle must be within this preset speed range to perform acceleration overtaking, so as to ensure that the vehicle operates at an appropriate speed and avoids being too fast or too slow. For example, the preset speed range is determined according to 1.2 times the speed limit value and a smaller speed value, for example, the speed limit value is 120 kph, and the smaller speed value is 30 kph, thereby determining the preset range as 30 kph-144 kph, that is, when the current speed is within the range of 30 kph-144 kph, it can be determined that the vehicle acceleration overtaking condition is met.

[0065] The vehicle acceleration overtaking condition also comprises a current speed of the vehicle reaching a target vehicle speed, which means that in the navigation assisted driving mode, the vehicle automatically sets an ideal driving speed according to the navigation route and traffic conditions. That is, only when the current speed of the vehicle reaches the target vehicle speed, the acceleration overtaking operation can be started or continued.

[0066] The vehicle acceleration overtaking condition further comprises that the current speed of the vehicle and the speed difference between the vehicle and the large vehicle satisfy a preset speed difference range, that is, only when the current speed of the vehicle and the speed difference between the vehicle and the large vehicle are within the preset speed difference range, the vehicle can perform acceleration overtaking, which means that the current speed difference between the vehicle and the large vehicle is small, and if the vehicle does not accelerate, the vehicle will continue to travel side by side with the large vehicle, which will affect the overtaking of the following vehicle, and will also bring pressure and potential danger to the driver. For example, the preset speed difference range is 0-10 kph, that is, when the current speed of the vehicle and the speed difference between the vehicle and the large vehicle are between 0-10 kph, it can be determined that the vehicle satisfies the acceleration overtaking condition.

[0067] The vehicle acceleration overtaking condition further comprises that the duration for which the current speed of the vehicle reaches the target speed is greater than a preset duration, that is, the vehicle must continue for a certain time (for example, the preset duration is 2 seconds) after reaching the target speed to perform acceleration overtaking, which can avoid the vehicle from immediately overtaking after reaching the target speed, thereby increasing safety.

[0068] The vehicle acceleration overtaking condition further comprises that the vehicle position satisfies a preset position condition, that is, the vehicle must be in a specific lane, or must not be allowed to overtake when approaching a crossroad or ramp (that is, the entrance or exit of the highway), and only when the vehicle position satisfies these conditions, the vehicle can perform acceleration overtaking. For example, the vehicle in a specific lane refers to a lane within the boundary region of intelligent driving, that is, when the vehicle drives out of the lane within the boundary region, the vehicle cannot be normally automatically driven, and when the vehicle drives in the lane within the boundary region, it can be determined that the vehicle satisfies the acceleration overtaking condition. For another example, when the vehicle is in the ramp or a certain distance away from the ramp, it can be determined that the vehicle does not satisfy the acceleration overtaking condition, and when the vehicle is not in the ramp or is far away from the ramp, it can be determined that the vehicle satisfies the acceleration overtaking condition.

[0069] It should be noted that the vehicle acceleration overtaking condition comprises one or more of the above conditions, and in an embodiment of the present application, in order to determine the safety of the vehicle accelerating to overtake the large vehicle, when the acceleration space exists in front of the vehicle, the current speed of the vehicle satisfies the preset speed range, the current speed of the vehicle reaches the target speed, the current speed of the vehicle and the speed difference between the vehicle and the large vehicle satisfy the preset speed difference range, the duration for which the current speed of the vehicle reaches the target speed is greater than the preset duration, the vehicle position satisfies the preset position condition, and the current speed of the vehicle is not greater than the speed limit value, it is determined that the vehicle satisfies the acceleration overtaking condition.

[0070] According to an embodiment of the present application, the control vehicle adopts the acceleration overtaking mode to overtake the target large vehicle traveling side by side, comprising: controlling the vehicle to accelerate to a first overtaking speed and travel to the tail of the vehicle to overtake the target large vehicle by a second preset distance. The second preset distance can be determined according to the actual situation.

[0071] Specifically, when the vehicle is controlled to adopt the acceleration overtaking mode to overtake the target large vehicle running side by side, the current vehicle speed can be increased to accelerate to a second preset distance behind the target large vehicle. For example, the vehicle is currently running in the navigation assisted driving mode, and the target running speed V1 of the vehicle is automatically set according to the navigation route and traffic conditions. The second preset distance can be a distance between 10-20 meters, for example, the second preset distance is 15 meters. When the vehicle is controlled to adopt the acceleration overtaking mode to overtake the target large vehicle running side by side, the vehicle can be driven at a speed of the target overtaking speed V1 (the first overtaking speed V2), and after driving past the target large vehicle, when the vehicle tail exceeds the front of the target large vehicle by 15 meters, it can be determined that the overtaking is successful. After that, the acceleration can be stopped, and the comfortable deceleration to the target running speed V1 can be performed.

[0072] According to an embodiment of the present application, the target large vehicle is one or more.

[0073] Specifically, in the actual driving process, the target large vehicle encountered can be more than one. In the case of one target large vehicle, the vehicle can be controlled to accelerate to the first overtaking speed according to the above method, and the vehicle tail can exceed the second preset distance of the target large vehicle. In the case of multiple target large vehicles in the adjacent lane, i.e., there are multiple consecutive target large vehicles, if the vehicle acceleration overtaking condition is met with multiple target large vehicles during acceleration, the vehicle can be accelerated to the second preset distance of the vehicle tail exceeding the target large vehicle in the front position among the multiple target large vehicles.

[0074] According to an embodiment of the present application, the first overtaking speed is the minimum speed value in the limit speed combination.

[0075] According to an embodiment of the present application, the limit speed combination includes at least one of the following: a preset multiple of the target vehicle speed, a preset multiple of the current lane speed limit, a set vehicle speed value, and a curvature speed limit value. The preset multiple can be determined according to the actual situation.

[0076] Specifically, when the vehicle is controlled to accelerate to the first overtaking speed, the first overtaking speed can be determined as the minimum speed value in the limit speed combination. That is, the minimum speed value in the limit speed combination can ensure that the speed of the vehicle is high enough to complete the overtaking when the vehicle accelerates to overtake the large vehicle in the conventional road section, and at the same time, it will not bring safety hazards.

[0077] The limit speed combination can include at least one of a preset multiple of the target vehicle speed, a preset multiple of the current lane speed limit, a set vehicle speed value, and a curvature speed limit value. The preset multiple of the target vehicle speed refers to the speed of the vehicle under the current driving condition multiplied by a preset multiple (e.g., 1.2). This multiple can ensure that the vehicle has sufficient speed to complete the overtaking without speeding. The preset multiple of the current lane speed limit refers to the speed limit of the current road multiplied by a preset multiple (e.g., 1.2). This multiple generally does not exceed the legal speed limit of the road, but can provide a certain margin to cope with different driving situations. The set vehicle speed value refers to a speed value set by the navigation-assisted driving function or the driver in advance for controlling the speed of the vehicle under certain conditions. The curvature speed limit value refers to a speed limit calculated according to the curvature of the road (i.e., the degree of curvature of the curve). On road segments with many curves, higher speed can increase the risk of accidents, so the speed limit is automatically reduced according to the curvature of the road.

[0078] For example, in the case where the target vehicle speed is 90 kph, the current road speed limit is 120 kph, the set vehicle speed value is 110 kph, and the curvature speed limit value is 95 kph, the smallest speed value among them is taken as the first overtaking speed. For example, in the case where the vehicle is passing a curve, the first overtaking speed can be determined to be 95 kph. In this way, the vehicle can effectively complete the acceleration overtaking of the large vehicle next to it while ensuring safety.

[0079] According to another embodiment of the present application, the limit speed combination includes at least one of a preset multiple of the target vehicle speed, a preset multiple of the current lane speed limit, a set vehicle speed value, a curvature speed limit value, and a road speed limit value.

[0080] According to an embodiment of the present application, the road speed limit value includes an interval speed limit value or an electronic eye speed limit value.

[0081] Specifically, in the case where there is a speed limit section, when the vehicle is controlled to accelerate to the first overtaking speed, the first overtaking speed can be determined to be the smallest speed value in the limit speed combination. That is, the smallest speed value in the limit speed combination can ensure that the speed of the vehicle is high enough to complete the overtaking of the large vehicle on a regular road segment, while not posing a safety hazard and not violating traffic rules.

[0082] The speed limit combination can include at least one of a preset multiple of the target vehicle speed, a preset multiple of the current lane speed limit, a set vehicle speed value, a curvature speed limit value, and a road speed limit value. The preset multiple of the target vehicle speed refers to the speed of the vehicle under the current driving condition multiplied by a preset multiple (e.g., 1.2). This multiple can ensure that the vehicle has sufficient speed to complete the overtaking without speeding. The preset multiple of the current lane speed limit refers to the speed limit of the current road multiplied by a preset multiple (e.g., 1.2). This multiple generally does not exceed the legal speed limit of the road, but can provide a certain margin to cope with different driving situations. The set vehicle speed value refers to a speed value set by the navigation-assisted driving function or the driver in advance for controlling the speed of the vehicle under certain conditions. The curvature speed limit value refers to a speed limit calculated according to the curvature of the road (i.e., the degree of curvature of the curve). On road segments with many curves, higher speeds can increase the risk of accidents, so the speed limit is automatically reduced according to the curvature of the road. The road speed limit value refers to a speed limit set according to the specific conditions of the road and traffic rules.

[0083] For example, the road speed limit value can include an interval speed limit value or an electronic eye speed limit value. For example, on some key road segments such as highways, bridges, or tunnels, there may be electronic monitoring devices (electronic eyes) to monitor and record the speed of vehicles. These devices usually set a specific speed limit (electronic eye speed limit value) to ensure road safety. For example, interval speed limit values can be set on some sections of the highway to ensure road safety.

[0084] For example, in the case where the target vehicle speed is 90 kph, the current road speed limit is 120 kph, the set vehicle speed value is 110 kph, the curvature speed limit value is 95 kph, and the electronic eye speed limit value is 100 kph, the smallest speed value among them will be taken as the first overtaking speed. For example, if the current vehicle is driving on a straight road (without considering the curvature speed limit value), the first overtaking speed can be determined to be 100 kph. In this way, the vehicle can effectively complete the acceleration overtaking of the side-by-side large vehicle while ensuring safety and complying with traffic rules.

[0085] According to an embodiment of the present application, the vehicle driving control method further comprises: when the acceleration overtaking exit condition is met, controlling the vehicle to exit the acceleration overtaking mode.

[0086] Specifically, during the process of the vehicle driving in the acceleration overtaking mode, if the acceleration overtaking exit condition is met, the vehicle is controlled to exit the acceleration overtaking mode. The acceleration overtaking exit condition can involve the speed, position, surrounding environment and other factors of the vehicle. For example, when the vehicle reaches or exceeds a preset first overtaking speed and has successfully overtaken the target large vehicle, the vehicle can be controlled to exit the acceleration overtaking mode. For another example, the tail of the vehicle has exceeded the head of the target large vehicle by a certain distance (such as a second preset distance), indicating that the vehicle has safely completed the overtaking, and the vehicle can be controlled to exit the acceleration overtaking mode. For another example, if the sensor of the vehicle detects that the road condition in front changes, such as an obstacle, traffic congestion or other potential dangers, the vehicle can be controlled to exit the acceleration overtaking mode, and the like.

[0087] According to an embodiment of the present application, the acceleration overtaking exit condition comprises at least one of the following: driver intervention behavior, target large vehicle acceleration satisfying a first preset condition, target large vehicle deceleration satisfying a second preset condition, and acceleration space not satisfying.

[0088] Specifically, the acceleration overtaking exit condition is a series of rules for judging when the acceleration overtaking mode should be ended and returned to the normal driving state when the acceleration overtaking operation is performed in the navigation assisted driving mode. The acceleration overtaking exit condition comprises one or more of the following: driver intervention behavior, target large vehicle acceleration satisfying a first preset condition, target large vehicle deceleration satisfying a second preset condition, and acceleration space not satisfying. The driver intervention behavior refers to the intervention of the driver through the operation of the control device (such as the acceleration pedal, the brake pedal, the steering wheel or the cancel button, etc.) of the vehicle. For example, when the driver decides to decelerate or change lanes because he sees an obstacle or a change in traffic conditions in front, it can be determined that the acceleration overtaking exit condition is met.

[0089] The target large vehicle acceleration satisfying the first preset condition refers to that when the speed of the target large vehicle increases to a certain preset threshold, it can be determined that the acceleration overtaking exit condition is met. For example, in the case that the speed difference between the target large vehicle and the ego vehicle is greater than or equal to 0 and less than or equal to 10 kph, the ego vehicle continues to accelerate at the maximum acceleration range value, and if it still stays in the range of 0-10 kph after continuously exceeding 3 seconds, it can be determined that the acceleration overtaking exit condition is met, and the comfortable deceleration is reduced to the target vehicle speed. For another example, in the case that the speed difference between the target large vehicle and the ego vehicle is greater than 10 kph, it indicates that the speed of the target large vehicle increases greatly, and in order to ensure driving safety, it can be determined that the acceleration overtaking exit condition is met, and the comfortable deceleration is reduced to the target vehicle speed.

[0090] The target vehicle deceleration satisfying the second preset condition refers to that when the target vehicle speed is reduced to a preset threshold, it can be determined that the acceleration overtaking exit condition is satisfied, for example, when the speed difference between the vehicle speed and the target vehicle speed is greater than 10kph, it indicates that the target vehicle speed is reduced more, and the current vehicle will not be side by side with the target vehicle for a long time when driving according to the target vehicle speed, so it can be determined that the acceleration overtaking exit condition is satisfied, and the comfortable speed is reduced to the target vehicle speed.

[0091] The acceleration space not satisfying refers to that the current road condition or traffic condition no longer allows the vehicle to accelerate and overtake, for example, the road becomes narrow or obstacles appear, traffic congestion, there is not enough space in front of the vehicle for the vehicle to accelerate and overtake, etc. Therefore, the safety of the vehicle and the driver can be ensured, and the operation can be exited in time when necessary, so that the driver can take over the control.

[0092] According to an embodiment of the present application, the driver intervention behavior includes driver manual deceleration adjustment and driver active control during driver assistance.

[0093] Specifically, the driver intervention behavior refers to that during the operation of the navigation assistance driving mode, the driver changes the vehicle speed by directly operating the vehicle. The driver intervention behavior includes driver manual deceleration adjustment, that is, the current vehicle speed is adjusted manually by the driver. The driver intervention behavior also includes driver active control during driver assistance, that is, actively controlling the vehicle during driver assistance (navigation assistance driving mode), for example, the driver steps on the accelerator to increase the current vehicle speed, temporarily increases the current vehicle speed, or reduces the current vehicle speed by stepping on the brake pedal, etc. It should be noted that, unlike the driver manual deceleration adjustment, the embodiment does not exit the navigation assistance driving mode.

[0094] According to an embodiment of the present application, the vehicle driving control method further comprises: after the vehicle exits the acceleration overtaking mode for a preset time threshold, determining whether the vehicle satisfies the vehicle acceleration overtaking condition again. The preset time threshold can be determined according to the actual situation.

[0095] Specifically, after the vehicle exits the acceleration overtaking mode, the time of exiting the mode can be determined, and after the vehicle exits the acceleration overtaking mode for a preset time threshold, for example, after exiting the acceleration overtaking mode for 5 seconds, it can be determined again whether the vehicle satisfies the vehicle acceleration overtaking condition. Therefore, the vehicle can be prevented from frequently switching between acceleration and deceleration, unnecessary pressure on the vehicle and the driver can be reduced, and the change of the traffic flow can be better adapted, and the driving efficiency can be improved.

[0096] According to an embodiment of the present application, the vehicle driving control method further comprises: prompting the vehicle to be in the acceleration overtaking mode on the vehicle instrument and the vehicle central control screen.

[0097] Specifically, in the case that the vehicle is in the acceleration overtaking mode, the vehicle can be prompted to be in the acceleration overtaking mode on the instrument and the central control screen of the vehicle. For example, the vehicle can be displayed in the form of text on the instrument and the central control screen, such as displaying "intelligent avoidance in progress", "acceleration overtaking mode in progress", etc. Thus, through clear prompt information, the interaction between the driver and the vehicle can be enhanced, a more intuitive and friendly user experience can be provided, and in the acceleration overtaking process, if the driver needs to take over the control of the vehicle for some reason, the prompt on the screen can serve as a warning to help the driver react faster and take appropriate measures. That is, through explicit prompt information, the driver's misoperation due to misunderstanding of the vehicle state can be reduced, such as mistakenly decelerating or changing lanes, etc.

[0098] In addition, the target large vehicle in side-by-side driving can also be highlighted on the central control screen to remind the driver that after the acceleration overtaking mode ends, the highlight and the text prompt can disappear, and the instrument and the central control screen return to the normal display state.

[0099] According to an embodiment of the present application, the vehicle driving control method further comprises: when the vehicle overtakes the target large vehicle in side-by-side driving by using the acceleration overtaking mode, controlling the vehicle light of the vehicle to perform at least one high beam and low beam alternating flashing.

[0100] Specifically, when the vehicle overtakes the target large vehicle in side-by-side driving by using the acceleration overtaking mode, the vehicle light of the vehicle can be controlled to perform at least one high beam and low beam alternating flashing. For example, in the case that there is one target large vehicle in side-by-side driving, the vehicle light of the vehicle can be controlled to perform one high beam and low beam alternating flashing, and for example, in the case that there are multiple target large vehicles in side-by-side driving, one high beam and low beam alternating flashing can be performed every time the vehicle overtakes one target large vehicle in side-by-side driving, so as to remind the target large vehicle in side-by-side driving or other vehicles to pay attention to the impending overtaking behavior. Especially during the process of driving at night, the alternating flashing high beam and low beam can significantly improve the visibility of the vehicle in the night or poor visibility environment, ensuring that the target large vehicle or other road users can timely discover and identify the target large vehicle in side-by-side driving which is accelerating overtaking, and such warning effect helps to reduce traffic accidents caused by blind spots or inattention.

[0101] Thus, in a complex traffic environment, especially at night or in low visibility conditions, the alternating flashing vehicle light can increase the perception of the position of the vehicle by other vehicles, thereby reducing the risk of collision and improving driving safety.

[0102] In summary, as a specific example, in the case where the high-speed navigation assisted driving function is turned on, the vehicle will travel according to the target speed automatically set according to the navigation route and traffic conditions. If there is a target large vehicle in the adjacent lane of the vehicle, and the distance between the front of the vehicle and the rear of the target large vehicle is less than or equal to 10 meters, and the rear of the vehicle does not exceed the front of the target large vehicle, it can be determined that there is a situation of driving side by side with a large vehicle. Therefore, it can be determined whether the current vehicle meets the acceleration overtaking conditions, for example, there is an acceleration space in front of the vehicle (such as a smooth road ahead), the current speed value of the vehicle reaches the target speed (such as 90 kph), meets the preset speed range (such as 30-144 kph), and the current speed value is not greater than the speed limit value (such as 120 kph), and the speed difference between the current speed of the vehicle and the speed of the large vehicle is 5 kph, which meets the preset speed difference range (such as 0-10 kph), and the duration exceeds 2 seconds, and the vehicle is currently driving normally in the lane in the intelligent driving area. If the current vehicle can accelerate and overtake the target large vehicle side by side under the premise of ensuring driving safety, it means that the current vehicle meets the acceleration overtaking conditions, and the vehicle is controlled to accelerate to a first overtaking speed. The first overtaking speed is determined according to the preset multiple of the target speed, the preset multiple of the current vehicle speed limit, the set vehicle speed value, the curvature speed limit value, and the interval speed limit value or the electronic eye speed limit value. For example, in the case where the target speed is 90 kph, the interval speed limit value is 120 kph, the curvature speed limit value is 80 kph, the preset multiple is 1.2, the set vehicle speed value is 120 kph, and the current lane speed limit is 120 kph, if the vehicle is currently driving on a straight road, the first overtaking speed can be determined to be 108 kph (90*1.2).

[0103] Therefore, the vehicle will overtake the large vehicle at a speed that exceeds the target speed by a certain range to ensure the safety of the driver and passengers, improve traffic efficiency, and improve user comfort. In addition, the vehicle can also be prompted to be in acceleration overtaking mode on the vehicle instrument and vehicle central control screen, and if the current vehicle is driving at night, the vehicle can also be controlled to flash the high beam and low beam alternately to prompt the target large vehicle. In addition, if there is a continuous target large vehicle on one side, the vehicle can continuously accelerate to overtake.

[0104] After the vehicle overtakes the target vehicle, if the vehicle currently meets the acceleration overtaking exit condition, the vehicle can be controlled to exit the acceleration overtaking mode, and the vehicle travels at the target speed. For example, if the speed difference between the acceleration of the target vehicle and the speed of the vehicle is greater than 10 kph, it indicates that the target vehicle is about to move away from the vehicle, and the vehicle can be controlled to exit the acceleration overtaking mode and reduce to the target speed. For another example, in the case that there is an obstacle in front, the vehicle can be controlled to exit the acceleration overtaking mode, and then the vehicle can be operated to change lanes or decelerate. For another example, if the driver manually reduces the speed, such as reducing to 80 kph, the target speed is adjusted according to the manual adjustment of the driver, and the vehicle can be controlled to exit the acceleration overtaking mode. In addition, after the vehicle exits the acceleration overtaking mode for 5 seconds, it can be determined again whether the vehicle meets the vehicle acceleration overtaking condition, and the vehicle continues to overtake the target vehicle if the acceleration overtaking condition is met. In this way, the safety of the driver and passengers can be ensured, the traffic efficiency can be improved, and the user's sense of security can be improved.

[0105] The control method of the present application will be described below in conjunction with FIG. 2.

[0106] As a specific example, the vehicle driving control method of the present application can include the following steps:

[0107] S101, determining whether there is a target vehicle in the adjacent lane of the vehicle, and whether the distance between the front of the vehicle and the tail of the target vehicle is less than or equal to a first preset distance. If yes, step S102 is performed; if no, step S107 is performed.

[0108] S102, determining whether the vehicle meets the vehicle acceleration overtaking condition. If yes, step S103 is performed; if no, step S107 is performed.

[0109] S103, controlling the vehicle to accelerate to a first overtaking speed, and driving to a second preset distance beyond the tail of the target vehicle.

[0110] S104, determining whether the vehicle meets the acceleration overtaking exit condition. If yes, step S105 is performed; if no, step S103 is performed.

[0111] S105, controlling the vehicle to exit the acceleration overtaking mode.

[0112] S106, determining whether the vehicle exits the acceleration overtaking mode for a preset time threshold. If yes, step S101 is performed; if no, step S105 is performed.

[0113] S107, in the navigation assisted driving mode, the vehicle travels at a target speed automatically set according to the navigation route and traffic conditions.

[0114] In summary, according to the vehicle driving control method of the embodiment of the present application, firstly, it is determined that the vehicle is in a scenario of being side by side with a large vehicle, and then the vehicle is controlled to overtake the target large vehicle in a speed-up overtaking mode. Thus, the method can ensure the safety of the driver and passengers, improve the traffic efficiency, and improve the user's sense of security.

[0115] Corresponding to the above embodiment, the present application also provides a vehicle driving control device.

[0116] As shown in FIG. 3, the vehicle driving control device 100 of the embodiment of the present application comprises a scenario determination module 110 and a vehicle control module 120.

[0117] The scenario determination module 110 is configured to determine that the vehicle is in a scenario of being side by side with a large vehicle. The vehicle control module 120 is configured to control the vehicle to overtake the target large vehicle in a speed-up overtaking mode.

[0118] According to an embodiment of the present application, the vehicle being in a scenario of being side by side with a large vehicle comprises that there is a target large vehicle in the adjacent lane of the vehicle, and the distance between the front of the vehicle and the tail of the target large vehicle is less than or equal to a first preset distance.

[0119] According to an embodiment of the present application, before the vehicle control module 120 controls the vehicle to overtake the target large vehicle in the speed-up overtaking mode, it is further configured to determine that the vehicle satisfies a vehicle speed-up overtaking condition.

[0120] According to an embodiment of the present application, the vehicle speed-up overtaking condition comprises at least one of the following: there is an acceleration space in front of the vehicle, the current speed value of the vehicle satisfies a preset speed range, the current speed of the vehicle reaches a target speed, the current speed of the vehicle satisfies a preset speed difference range, the current speed of the vehicle reaches the target speed for a duration greater than a preset duration, the position of the vehicle satisfies a preset position condition, and the current speed value of the vehicle is not greater than a speed limit value.

[0121] According to an embodiment of the present application, the vehicle control module 120 controls the vehicle to overtake the target large vehicle in the speed-up overtaking mode, and is specifically configured to control the vehicle to accelerate to a first overtaking speed and drive to the tail of the vehicle to overtake the target large vehicle by a second preset distance.

[0122] According to an embodiment of the present application, the target large vehicle is one or more.

[0123] According to an embodiment of the present application, the first overtaking speed is the minimum speed value in a speed limit combination.

[0124] According to an embodiment of the present application, the speed limit combination comprises at least one of the following: a preset multiple of the target speed, a preset multiple of the speed limit of the current lane, a set vehicle speed value, and a curvature speed limit value.

[0125] According to an embodiment of the present application, the speed limit combination comprises at least one of: a preset multiple of the target vehicle speed, a preset multiple of the current lane speed limit, a set vehicle speed value, a curvature speed limit value and a road speed limit value.

[0126] According to an embodiment of the present application, the road speed limit value comprises an interval speed limit value or an electronic eye speed limit value.

[0127] According to an embodiment of the present application, the vehicle control module 120 is further configured to control the vehicle to exit the acceleration overtaking mode when the acceleration overtaking exit condition is met.

[0128] According to an embodiment of the present application, the acceleration overtaking exit condition comprises at least one of: a driver intervention behavior, the target large vehicle acceleration meeting a first preset condition, the target large vehicle deceleration meeting a second preset condition, and the acceleration space not being satisfied.

[0129] According to an embodiment of the present application, the driver intervention behavior comprises a driver manually adjusting deceleration or the driver actively controlling during the driver assistance.

[0130] According to an embodiment of the present application, the vehicle control module 120 is further configured to re-determine whether the vehicle meets the vehicle acceleration overtaking condition after the vehicle exits the acceleration overtaking mode for a preset time threshold.

[0131] According to an embodiment of the present application, the vehicle control module 120 is further configured to prompt the vehicle to be in the acceleration overtaking mode on the vehicle instrument panel and the vehicle central control screen.

[0132] According to an embodiment of the present application, the vehicle control module 120 is further configured to control the vehicle lights to perform at least one of high beam and low beam flashing when the vehicle overtakes the target large vehicle in the side-by-side driving mode.

[0133] It should be noted that details of the vehicle driving control device not disclosed in the embodiments of the present application can refer to details disclosed in the vehicle driving control method of the embodiments of the present application, which will not be described here in detail.

[0134] According to the vehicle driving control device of the embodiments of the present application, the scene determination module is configured to determine that the vehicle is in the side-by-side scene with the large vehicle, and the vehicle control module is configured to control the vehicle to overtake the target large vehicle in the side-by-side driving mode in the acceleration overtaking mode. Therefore, the device can ensure the safety of the driver and passengers, improve the traffic efficiency, and improve the user's sense of security.

[0135] Corresponding to the above-mentioned embodiments, the present application further provides an electronic device.

[0136] As shown in FIG. 4, the electronic device 200 of the embodiment of the present application can include a processor 210 and a memory 220, the memory 220 storing programs or instructions executable on the processor 210, the programs or instructions being executed by the processor 210 to implement the steps of the vehicle driving control method described above.

[0137] According to the electronic device of the embodiment of the present application, by executing the vehicle driving control method described above, the safety of the driver and passengers can be ensured, the traffic efficiency can be improved, and the user's sense of security can be improved.

[0138] Corresponding to the above-mentioned embodiments, the present application further provides a vehicle.

[0139] As shown in FIG. 5, the vehicle 300 of the embodiment of the present application includes the electronic device 200 described above.

[0140] According to the vehicle of the embodiment of the present application, by the electronic device described above, the safety of the driver and passengers can be ensured, the traffic efficiency can be improved, and the user's sense of security can be improved. The structure of the vehicle described above can also refer to FIG. 6.

[0141] Corresponding to the above-mentioned embodiments, the present application further provides a computer readable storage medium.

[0142] The computer readable storage medium of the embodiment of the present application stores programs or instructions on the readable storage medium, the programs or instructions being executed by the processor to implement the steps of the vehicle driving control method described above.

[0143] According to the computer readable storage medium of the embodiment of the present application, by executing the vehicle driving control method described above, the safety of the driver and passengers can be ensured, the traffic efficiency can be improved, and the user's sense of security can be improved.

[0144] Corresponding to the above-mentioned embodiments, the present application further provides a computer program product.

[0145] The computer program product of the embodiment of the present application, the program product being executed by the processor of the vehicle to implement the steps of the vehicle driving control method described above.

[0146] According to the computer program product of the embodiment of the present application, by executing the vehicle driving control method described above, the safety of the driver and passengers can be ensured, the traffic efficiency can be improved, and the user's sense of security can be improved.

[0147] It is to be appreciated that the above description and the examples that follow are intended to be illustrative only and that changes can be made to the description, as represented by the above listed elements, by the steps recited in the flow charts, and by the examples that follow, without departing from the spirit of the application. Accordingly, the scope of the present application is intended to be defined only by the appended claims.

[0148] It should be understood that aspects of the application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any of the following techniques, which are well known in the art of hardware implementation, can be used: a hybrid of the above techniques, a mixture of two or more of the above techniques, or a combination of the above techniques with other techniques not listed above.

[0149] In the description of the present application, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. The illustrative appearances of the above-mentioned terms in various places in the specification are not intended to exclude that the terms in one place can refer to the same or similar features, structures, materials, or characteristics as other instances of the same term found in another location in the specification. Furthermore, the description of particular features, structures, materials, or characteristics in

[0150] In addition, the terms "first", "second", etc. are used only for the purpose of description, and should not be understood as indicating or implying relative importance or implying a number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0151] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0152] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle travel control method in which, The method comprises: determining that the vehicle is in a side-by-side scenario with a large vehicle; controlling the vehicle to overtake the target large vehicle running side by side in an acceleration overtaking mode.

2. The method of claim 1, wherein, The vehicle being in a side-by-side scenario with a large vehicle comprises that there is a target large vehicle in the adjacent lane of the vehicle, and the distance between the front of the vehicle and the tail of the target large vehicle is less than or equal to a first preset distance.

3. The method of claim 1, wherein, Before the vehicle is controlled to overtake the target large vehicle running side by side in an acceleration overtaking mode, the method further comprises: determining that the vehicle meets a vehicle acceleration overtaking condition.

4. The method of claim 3, wherein, The vehicle acceleration overtaking condition comprises at least one of the following: there is an acceleration space in front of the vehicle, the current speed value of the vehicle meets a preset speed range, the current speed of the vehicle reaches a target speed, the speed difference between the current speed of the vehicle and the speed of the large vehicle meets a preset speed difference range, the current speed of the vehicle reaches the target speed for a duration greater than a preset duration, the position of the vehicle meets a preset position condition, and the current speed value of the vehicle is not greater than a speed limit value.

5. The method of any one of claims 1-4, wherein, The controlling the vehicle to overtake the target large vehicle running side by side in an acceleration overtaking mode comprises: controlling the vehicle to accelerate to a first overtaking speed and travel to the tail of the vehicle to overtake the target large vehicle by a second preset distance.

6. The method of claim 5, wherein, The target large vehicle is one or more.

7. The method of claim 5, wherein, The first overtaking speed is the minimum speed value in a limit speed combination.

8. The method of claim 7, wherein, The limit speed combination comprises at least one of the following: a preset multiple of the target speed, a preset multiple of the current lane speed limit, a set vehicle speed value, and a curvature speed limit value.

9. The method of claim 7, wherein, The limit speed combination comprises at least one of the following: a preset multiple of the target speed, a preset multiple of the current lane speed limit, a set vehicle speed value, a curvature speed limit value, and a road speed limit value.

10. The method of claim 9, wherein, The road speed limit value comprises an interval speed limit value or an electronic eye speed limit value.

11. The method of claim 5, wherein, The method further comprises: controlling the vehicle to exit the acceleration overtaking mode when an acceleration overtaking exit condition is met.

12. The method of claim 11, wherein, The acceleration overtaking exit condition comprises at least one of the following: a driver intervention behavior, the target large vehicle accelerating meets a first preset condition, the target large vehicle decelerating meets a second preset condition, and the acceleration space does not meet the condition.

13. The method of claim 12, wherein, The driver intervention behavior comprises the driver manually adjusting the deceleration or actively controlling during the driver assistance driving.

14. The method of claim 11, wherein, The method further comprises: redetermining whether the vehicle meets the vehicle acceleration overtaking condition after the vehicle exits the acceleration overtaking mode for a preset time threshold.

15. The method of claim 1, wherein, The method further comprises: prompting the vehicle to be in the acceleration overtaking mode on the vehicle instrument panel and the vehicle central control screen.

16. The method of claim 1, wherein, The method further comprises: controlling the vehicle's headlights to perform at least one of high-beam and low-beam light flashing alternately when the vehicle is overtaking the target large vehicle running side by side in the acceleration overtaking mode.

17. An electronic device, wherein, The method comprises: a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions being executed by the processor to implement the steps of the vehicle driving control method according to any one of claims 1 to 16.

18. A vehicle, wherein, The electronic device of claim 17.

19. A computer readable storage medium, wherein, The readable storage medium stores programs or instructions, which are executed by the processor to implement the steps of the vehicle driving control method according to any one of claims 1 to 16.

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