Vehicle passing method and device

Abstract

The present application provides a vehicle passing method and a device. The present application can be applied to the field of intelligent driving. The vehicle passing method comprises: acquiring environmental information around a first vehicle; when the environmental information indicates that at least one position between the first vehicle and a second vehicle does not satisfy a vehicle passing condition, acquiring a first vehicle passing point, wherein the first vehicle and the second vehicle satisfy the vehicle passing condition at the first vehicle passing point; and controlling the first vehicle on the basis of the first vehicle passing point. The present application can be applied to an intelligent vehicle or an electric vehicle; and by determining whether an area between the first vehicle and the second vehicle satisfies the vehicle passing condition, the first vehicle is controlled to perform vehicle passing at a position that satisfies the vehicle passing condition, so as to prevent the first vehicle and the second vehicle from becoming deadlocked at a position where vehicle passing cannot be performed during vehicle passing, thereby improving traffic efficiency during vehicle passing.

Description

A method and apparatus for meeting vehicles Technical Field

[0001] This application relates to the field of intelligent driving, and more specifically, to a method and apparatus for passing other vehicles. Background Technology

[0002] In recent years, Advanced Driving Assistant Systems (ADAS) and Autonomous Driving Systems (ADS) have played a crucial role in the development of intelligent vehicles. With technological advancements, the application scope of intelligent vehicles has expanded, leading to an increase in the complexity of the scenarios they encounter. Among these, meeting oncoming traffic on narrow roads is one of the most frequent complex scenarios faced by intelligent vehicles.

[0003] However, current vehicles, whether in manual or intelligent driving mode, are not intelligent enough when handling narrow oncoming traffic scenarios. They don't know when to pass, resulting in low passing efficiency and even affecting other vehicles, causing traffic congestion. Therefore, improving the passing efficiency of intelligent vehicles is an urgent problem to be solved.

[0004] Summary of the Invention

[0005] This application provides a method and apparatus for meeting oncoming traffic, which can be applied to the field of intelligent driving and is beneficial to improving the efficiency of meeting oncoming traffic.

[0006] In a first aspect, a method for meeting oncoming traffic is provided, the method comprising: acquiring environmental information surrounding a first vehicle; when the environmental information indicates that at least one position between the first vehicle and a second vehicle does not meet the meeting conditions, acquiring a first meeting point, wherein the first vehicle and the second vehicle meet the meeting conditions at the first meeting point; and controlling the first vehicle based on the first meeting point.

[0007] Based on the above technical solution, by judging whether the area between the first vehicle and the second vehicle meets the conditions for passing, the first vehicle can be controlled to pass at a position that meets the conditions, thereby avoiding the first vehicle and the second vehicle from being locked in a position where they cannot pass during the passing process, which is conducive to improving the passing efficiency.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, the meeting method further includes: obtaining the driving information of the second vehicle; determining the meeting point of the first vehicle and the second vehicle based on the environmental information and the driving information; wherein, when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions, obtaining the first meeting point includes: when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions and the meeting point meets the meeting conditions, determining the meeting point as the first meeting point.

[0009] Based on the above technical solution, by predicting the meeting point of the first vehicle and the second vehicle, when the meeting point meets the conditions for passing, the vehicles can pass directly at the meeting point, which can avoid waiting and stopping during the passing process, thereby improving the passing efficiency.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the meeting method further includes: obtaining the driving information of the second vehicle; determining the meeting point of the first vehicle and the second vehicle based on the environmental information and the driving information; wherein, when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions, obtaining the first meeting point includes: obtaining the first meeting point when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point.

[0011] Based on the above technical solution, by determining the meeting point of the first vehicle and the second vehicle, prioritizing whether the meeting point meets the conditions for passing other vehicles, and then judging other locations, it is possible to quickly determine the meeting point, thereby improving the efficiency of passing other vehicles while reducing the amount of calculation.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point, obtaining the first meeting point includes: when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point, obtaining multiple meeting points; and determining the meeting point closest to the meeting point among the multiple meeting points as the first meeting point.

[0013] Based on the above technical solutions and the methods for determining meeting points and passing points, when the meeting point does not meet the passing conditions, selecting the closest point to the meeting point for passing can reduce waiting time during the passing process, thereby improving traffic efficiency. Furthermore, if the first passing point is too close to the location of the first vehicle, the first vehicle may brake suddenly, affecting the user's driving experience. However, by determining the passing point closest to the meeting point as the first passing point, the first vehicle can be controlled to brake slowly upon reaching the first passing point; therefore, the above technical solutions also contribute to improving the user's driving experience.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point, obtaining the first meeting point includes: when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point, controlling the first vehicle to stop; when the first position of the first vehicle in the stopped state meets the meeting conditions, determining the first position as the first meeting point.

[0015] Based on the above technical solution, when it is determined that the meeting point does not meet the conditions for passing other vehicles, the first vehicle is controlled to brake directly to a stop. This can prevent the first vehicle from missing the position that meets the conditions for passing other vehicles during the process of driving and judging the meeting point, and prevent the first vehicle from stopping in a place where passing other vehicles is not possible, thereby improving the efficiency of passing other vehicles.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, when environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the passing conditions, obtaining the first passing point includes: when environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the passing conditions, and when it is detected that the second vehicle continues to travel along the current driving direction, obtaining the second position of the second vehicle when it is in a stopped state; when the second position meets the passing conditions, determining the second position as the first passing point.

[0017] Based on the above technical solution, the first vehicle can determine the meeting point by combining the changes in the driving status of the second vehicle, making the judgment of the meeting scenario and meeting point more flexible, which is conducive to improving the efficiency of passing vehicles.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, when environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions, obtaining the first meeting point includes: when all positions between the first vehicle and the second vehicle do not meet the meeting conditions, obtaining the first meeting point in the opposite direction to the current driving direction of the first vehicle based on the environmental information.

[0019] Based on the above technical solution, the first vehicle can obtain the first meeting point on the road it has already traveled through. When it finds that there is no meeting point between the first vehicle and the second vehicle, it can reverse to the first meeting point in the opposite direction of its current travel direction, avoiding blindly driving forward and causing the two vehicles to lock in a position where they cannot meet, thereby improving the efficiency of passing vehicles.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, controlling the first vehicle based on the first meeting point includes: controlling the first vehicle to travel to the first meeting point.

[0021] The meeting method described in this application can be applied to autonomous driving systems. Based on the above technical solution, after determining the first meeting point, the first vehicle can be directly controlled to drive to the first meeting point, reducing manual operation and thus improving the efficiency of meeting traffic.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, after controlling the first vehicle to travel to the first meeting point, the method further includes: after detecting that the second vehicle has passed the first meeting point, controlling the first vehicle to continue traveling.

[0023] Based on the above technical solution, after determining that oncoming traffic has passed, the first vehicle can be directly controlled to continue driving, avoiding traffic congestion caused by excessive parking time, reducing manual operation, and thus improving the efficiency of oncoming traffic.

[0024] In conjunction with the first aspect, in some implementations of the first aspect, controlling the first vehicle based on the first meeting point includes: controlling the display device of the first vehicle to display information about the first meeting point.

[0025] The meeting method described in this application can be applied to driver assistance systems. Based on the above technical solution, the meeting method described in this application can provide effective reference opinions for meeting behavior decisions, reduce the human thinking process, and thus help improve the efficiency of meeting traffic.

[0026] Secondly, a vehicle-passing device is provided, which includes an acquisition unit for acquiring environmental information around a first vehicle and for acquiring a first passing point when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the passing conditions, wherein the first vehicle and the second vehicle meet the passing conditions at the first passing point; and a control unit for controlling the first vehicle according to the first passing point.

[0027] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is further used to acquire the driving information of the second vehicle; the meeting device further includes: a determination unit, used to determine the meeting point of the first vehicle and the second vehicle based on environmental information and driving information; when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions and the meeting point meets the meeting conditions, the meeting point is determined as the first meeting point.

[0028] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is further used to acquire the driving information of the second vehicle; the meeting device further includes: a determination unit, used to determine the meeting point of the first vehicle and the second vehicle based on environmental information and driving information; the acquisition unit is further used to acquire the first meeting point when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point.

[0029] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is specifically used to: acquire multiple meeting points when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point; the determination unit is specifically used to: determine the meeting point closest to the meeting point among the multiple meeting points as the first meeting point.

[0030] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is further configured to control the first vehicle to brake to a stop when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point; the determining unit is specifically configured to: determine the first position as the first meeting point when the first position of the first vehicle in the braking state meets the meeting conditions.

[0031] In conjunction with the second aspect, in some implementations of the second aspect, when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions, and the second vehicle continues to travel in the current direction of travel, the acquisition unit is also used to acquire the second position of the second vehicle when it is in a stopped state; the meeting device further includes: a determination unit, used to determine the second position as the first meeting point when the second position meets the meeting conditions.

[0032] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is specifically used to: when all positions between the first vehicle and the second vehicle do not meet the meeting conditions, acquire the first meeting point in the opposite direction to the current driving direction of the first vehicle based on environmental information.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: control the first vehicle to travel to the first meeting point.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, after controlling the first vehicle to travel to the first meeting point, the control unit is also used to: control the first vehicle to continue traveling after the second vehicle passes the first meeting point.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: control the display device of the first vehicle to display information about the first meeting point.

[0036] Thirdly, a vehicle-passing device is provided, comprising: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, such that the device can perform any of the vehicle-passing methods described in the first aspect above.

[0037] Fourthly, a vehicle is provided that includes any of the passing devices described in the second and third aspects above.

[0038] Fifthly, a computer-readable storage medium is provided having instructions stored thereon, which, when executed by a processor, cause the processor to implement any of the rendezvous methods described in the first aspect above.

[0039] In a sixth aspect, a computer program product is provided, comprising computer program code that, when executed on a computer, causes the computer to implement any of the rendezvous methods described in the first aspect above.

[0040] In a seventh aspect, a chip is provided, the chip including circuitry for performing any of the rendezvous methods described in the first aspect above. Attached Figure Description

[0041] Figure 1 is a functional schematic diagram of a vehicle 100 provided in an embodiment of this application.

[0042] Figure 2 is a schematic block diagram of an intelligent driving system provided in an embodiment of this application.

[0043] Figure 3 is a schematic flowchart of the meeting method 300 provided in an embodiment of this application.

[0044] Figure 4 is a schematic diagram of a scene around a vehicle according to an embodiment of this application.

[0045] Figure 5 is a schematic diagram of the vehicle meeting condition judgment in some embodiments of this application.

[0046] Figure 6 is a flowchart illustrating a meeting method 500 provided in an embodiment of this application.

[0047] Figure 7 is a schematic diagram of a meeting scenario according to an embodiment of this application.

[0048] Figure 8 is a schematic diagram of a meeting scenario according to an embodiment of this application.

[0049] Figure 9 is a schematic diagram of a meeting scenario according to an embodiment of this application.

[0050] Figure 10 is a flowchart illustrating the process of determining the vehicle's driving status and subsequent steps.

[0051] Figure 11 is a schematic diagram of a meeting scenario according to an embodiment of this application.

[0052] Figure 12 is a flowchart illustrating a meeting method 600 provided in an embodiment of this application.

[0053] Figure 13 is a schematic diagram of meeting point prediction according to an embodiment of this application.

[0054] Figure 14 is a schematic diagram of a meeting scenario according to an embodiment of this application.

[0055] Figure 15 is a schematic block diagram of a vehicle meeting device 2000 provided in an embodiment of this application. Detailed Implementation

[0056] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0057] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0058] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more,” unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of this application, “at least one” and “one or more” refer to one, two, or more than two. The term “and / or” is used to describe the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can indicate: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship.

[0059] References to "one embodiment" or "some embodiments" as used in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "one embodiment," "some embodiments," "another embodiment," "other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0060] Figure 1 is a functional schematic diagram of a vehicle 100 provided in an embodiment of this application. The vehicle 100 may include a perception system 120 and a computing platform 150. The perception system 120 may include one or more sensors that detect information about the surrounding environment of the vehicle 100. For example, the perception system 120 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou Navigation Satellite System, or other positioning systems. As another example, the perception system 120 may include one or more of an inertial measurement unit (IMU), an accelerometer, a lidar, millimeter-wave radar, ultrasonic radar, and a camera device. For example, the accelerometer may include a sensor for detecting acceleration signals from an air suspension system, or it may include a sensor for detecting acceleration signals from an electronic stability controller (ESC).

[0061] Some or all of the functions of vehicle 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement some or all of the functions of the aforementioned units. In addition, it can also be hardware circuits designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. Furthermore, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call and execute the instructions in the memory to achieve the corresponding functions.

[0062] Optionally, the structure of the vehicle 100 described above is merely illustrative. In actual applications, various components of the vehicle 100 can be added or removed as needed. For example, the vehicle 100 may also include a display device, which can be an in-vehicle display screen or a projection display screen.

[0063] The vehicle 100 in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, vehicle 100 can be a vehicle, which is a vehicle in a broad sense, and can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, unmanned vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle 100.

[0064] Vehicle 100 may include an intelligent driving system, which may include an advanced driver assistance system and an autonomous driving system. The intelligent driving system uses various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera devices, ultrasonic sensors, global positioning system, inertial measurement unit) to acquire information from the vehicle's surroundings, and analyzes and processes the acquired information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of driving the vehicle.

[0065] For example, Figure 2 shows a schematic block diagram of an intelligent driving system provided in an embodiment of this application. The intelligent driving system may include three functional modules: a perception module 210, a planning module 220, and a control module 230. The perception module 210 perceives the environment surrounding the vehicle through sensors and outputs corresponding perception data to the planning module 220. The planning module 220 obtains information such as road topology and target objects based on the information acquired by the perception module 210. The planning module 220 can determine a planned trajectory over a period of time based on the road topology and target object information. The planning module 220 can send this planned trajectory to the control module 230. After receiving the planned trajectory from the planning module 220, the control module 230 can output control signals to control actuators to take corresponding actions, such as braking, starting, steering, accelerating, decelerating, honking, and turning on lights.

[0066] The above-mentioned sensing module 210, planning module 220 and control module 230 can be located in the above-mentioned computing platform 150.

[0067] Vehicle-based driving automation systems are classified into five levels (or L0-L5) based on the degree to which they can perform dynamic driving tasks, according to the role allocation in performing these tasks and the presence or absence of an operational design domain (ODD), such as the external conditions (road, traffic, weather, lighting, etc.) defined during the system's design. Levels 0-2 represent driver assistance, where the system assists humans in performing dynamic driving tasks, but the driver remains the primary driver. Levels 3-5 represent autonomous driving, where the system performs dynamic driving tasks in place of the human under the designed operating conditions; when activated, the system becomes the primary driver. The names and definitions of each level are as follows:

[0068] Level 0 driving automation (also known as emergency assistance) systems cannot continuously perform lateral or longitudinal motion control of the vehicle during dynamic driving tasks, but they possess the ability to continuously perform partial target and event detection and response during dynamic driving tasks. Level 1 driving automation (also known as partial driver assistance) systems continuously perform lateral or longitudinal motion control of the vehicle during dynamic driving tasks under their design operating conditions, and possess the ability to perform partial target and event detection and response adapted to the performed lateral or longitudinal motion control. Level 2 driving automation (also known as combined driver assistance) systems continuously perform lateral and longitudinal motion control of the vehicle during dynamic driving tasks under their design operating conditions, and possess the ability to perform partial target and event detection and response adapted to the performed lateral and longitudinal motion control. Level 3 driving automation (also known as conditionally automated driving) systems continuously perform all dynamic driving tasks under their design operating conditions. Level 4 driving automation (also known as highly automated driving) systems continuously perform all dynamic driving tasks under their design operating conditions and automatically execute minimum risk strategies. Level 5 driving automation (also known as fully automated driving) systems continuously perform all dynamic driving tasks and automatically execute minimum risk strategies under any drivable conditions.

[0069] In driving, scenarios involving passing other vehicles on narrow roads are common, such as in garages, parking lots, or one-way streets. Passing other vehicles (including both the driver and the oncoming vehicle) passing each other at the same location at the same time. For ease of description, this application refers to the vehicle that needs to make a passing decision (the driver) as the first vehicle, the oncoming vehicle traveling in the opposite direction as the second vehicle, and the vehicle behind the first vehicle in the same lane traveling in the same direction as the first vehicle as the third vehicle. In narrow road passing scenarios, when the driver of the first vehicle observes that the road ahead is narrow, the driver can determine whether there is a suitable location for passing based on the surrounding environment and the vehicle types of the first and second vehicles. When the driver of the first vehicle determines that there is a suitable location, they can slow down and pass that location; when the driver of the first vehicle determines that there is no suitable location, they can brake in advance to let the second vehicle pass, or actively reverse to find another passing location.

[0070] With the development of the automotive industry and computer technology, the number of users of ADAS or ADS has been increasing in recent years, leading to a rise in complex driving scenarios. However, current intelligent vehicles, whether in manual or intelligent driving modes, do not predict whether there are suitable passing positions ahead based on real-world conditions. When encountering narrow roads with oncoming traffic, they don't know when to brake and avoid the situation, and thus continue driving forward until they are close to a second vehicle or when the road becomes impassable. Therefore, current intelligent vehicles may miss suitable passing positions, causing them to lock up in areas where passing is impossible, severely impacting passing efficiency.

[0071] To address these issues, this application proposes a method and apparatus for passing other vehicles. The method in this application, by identifying the surrounding environment and / or the driving information of other vehicles, can control vehicles to pass each other at locations that meet the passing conditions, providing valuable reference for passing behavior decisions and improving passing efficiency.

[0072] This application can be applied to intelligent vehicles or electric vehicles. It should be noted that the passing methods provided in the following embodiments are all illustrated with the driver's seat on the left and driving on the right as an example. It should be understood that for vehicles with the driver's seat on the right and driving on the left, the passing conditions and passing point positions in the passing methods of this application embodiments can be flexibly adjusted according to road traffic rules and vehicle configuration.

[0073] Figure 3 shows a schematic flowchart of the vehicle meeting method 300 provided in an embodiment of this application. The vehicle meeting method 300 can be executed by the vehicle 100, or by the computing platform 150, or by the system-on-a-chip (SoC) in the computing platform 150, or by the processor, chip, or circuit in the computing platform 150, or by the intelligent driving system shown in Figure 2. The following embodiments use an intelligent driving system as an example of the executing entity. Taking the execution flow of the first vehicle as an example, the vehicle meeting method 300 includes:

[0074] S310: Obtain environmental information around the first vehicle.

[0075] The first vehicle can identify surrounding environmental information through the perception system 120 in Figure 1 or the perception module 210 in Figure 2. Figure 4 shows a schematic diagram of the vehicle's surrounding scene according to an embodiment of this application. In one embodiment, the vehicle's environmental information may include lane lines, fixed obstacles (e.g., walls, pillars, railings, fire hydrants), other vehicles, pedestrians or animals, and terrain information (e.g., rivers, bridges, plants). By identifying these reference information, the ground width is determined, and the passable and impassable areas of the vehicle are distinguished. Within the passable area, the vehicle can drive and complete the passing maneuver. As shown in Figure 4(a), taking an underground parking garage scene as an example, the arrow next to the first vehicle indicates the driving direction of the first vehicle, and the arrow next to the second vehicle indicates the driving direction of the second vehicle. Within the field of vision of the first vehicle, scene reference points include walls, pillars, parking spaces, passageways, and other stationary vehicles. When parking spaces and passageways are unobstructed, the empty parking spaces and passageway locations are considered passable areas, while other stationary vehicles, walls, pillars, etc., are considered obstacles, and the locations of these obstacles and the areas they enclose are considered impassable areas. Finally, the meeting environment generated by the first vehicle after data processing and simplification is shown in Figure 4(b). For ease of description, this application uses the position and direction of the first vehicle as a reference, with the left side of the first vehicle referred to as the left-hand direction and the right side of the first vehicle referred to as the right-hand direction.

[0076] S320: When environmental information indicates that at least one location between the first vehicle and the second vehicle does not meet the meeting conditions, obtain the first meeting point, and the first vehicle and the second vehicle meet the meeting conditions at the first meeting point.

[0077] Optionally, in the meeting method 300, when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions, obtaining the first meeting point includes: when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions, and it is detected that the second vehicle continues to travel along the current driving direction, obtaining the second position of the second vehicle when it is in a stopped state; when the second position meets the meeting conditions, determining the second position as the first meeting point.

[0078] Optionally, in the meeting method 300, when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions, obtaining the first meeting point includes: when all positions between the first vehicle and the second vehicle do not meet the meeting conditions, obtaining the first meeting point in the opposite direction to the current driving direction of the first vehicle based on the environmental information.

[0079] The location that meets the conditions for passing other vehicles is called the passing point. In a passing scenario, there may be multiple passing points. This application refers to any one of these passing points as the first passing point, which can be the meeting point, the second passing point, the first position when the first vehicle is in a stopped state, the second position when the second vehicle is in a stopped state, or any other passing point.

[0080] Figures 5(a), (b), and (c) illustrate some schematic diagrams of oncoming vehicle condition determination according to embodiments of this application. As shown in Figure 5, exemplarily, the oncoming vehicle condition can be that the width L3 of the passable area in the direction perpendicular to the travel direction of the first and second vehicles at a certain location is greater than or equal to the sum of the width of the first vehicle, the width of the second vehicle, and the safety distance; the shortest distance L1 between the left side of this location and the impassable area in the opposite direction of the second vehicle's travel direction is greater than or equal to the length of the second vehicle; and the shortest distance L2 between the right side of this location and the impassable area in the opposite direction of the first vehicle's travel direction is greater than or equal to the length of the first vehicle. For example, the safety distance can be 30 cm.

[0081] For example, in the scenario shown in Figure 5(a), when there are no obstacles next to the first vehicle, the passing condition can be that at a certain position, L3 is greater than or equal to the sum of the width of the first vehicle, the width of the second vehicle, and the safety distance, and L1 is greater than or equal to the length of the second vehicle.

[0082] For example, in the scenario shown in Figure 5(b), when there are no obstacles next to the second vehicle, the passing condition can be that at a certain position, L3 is greater than or equal to the sum of the width of the first vehicle, the width of the second vehicle, and the safety distance, and L2 is greater than or equal to the length of the first vehicle.

[0083] In some scenarios, the passing condition can refer to a situation where the width L3 of the passable area perpendicular to the travel directions of the first and second vehicles at a certain location is greater than or equal to the sum of the widths of the first and second vehicles and the safe distance. For example, in a scenario where there is a passage gate or width-restricted barrier in the area between the first and second vehicles, at the location of the passage gate or width-restricted barrier, L3 is the allowable width of the passage gate or the restricted width of the width-restricted barrier; at locations other than the passage gate or width-restricted barrier, there are no other obstacles in the passable area on both sides of the first and second vehicles. Therefore, in this scenario, the passing condition can be L3 being greater than or equal to the sum of the widths of the first and second vehicles and the safe distance.

[0084] By acquiring environmental information around the first vehicle, it can be determined whether there is at least one location within the passable area between the first and second vehicles that does not meet the passing conditions. When it is determined that at least one location between the first and second vehicles does not meet the passing conditions, it is determined that the first and second vehicles have entered a passing state. For example, as shown in Figure 5(a), at a certain position (e.g., position 1) in front of the second vehicle's direction of travel, the passing conditions are not met; therefore, it is determined that there is at least one location within the passable area between the first and second vehicles that does not meet the passing conditions. As shown in Figure 5(b), at a certain position (e.g., position 2) in front of the first vehicle's direction of travel, the passing conditions are not met; therefore, it is determined that there is at least one location within the passable area between the first and second vehicles that does not meet the passing conditions. As shown in Figure 5(c), neither position 3 in front of the second vehicle's direction of travel nor position 4 in front of the first vehicle's direction of travel meets the passing conditions; therefore, it is determined that there is at least one location within the passable area between the first and second vehicles that does not meet the passing conditions.

[0085] Optionally, to prevent the acquisition of the first meeting point from taking too long, which could cause the first vehicle to miss a position that meets the meeting conditions during its journey, step S320 may further include: controlling the first vehicle to stop before acquiring the first meeting point. That is, after determining that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions, the first vehicle can first stop in place before acquiring the first meeting point.

[0086] In one implementation, the vehicle type information of the second vehicle can also be obtained, and the meeting conditions can be adjusted based on this information. For example, L1 can be greater than or equal to the product of the length of the second vehicle and the meeting coefficient, and L3 can be greater than or equal to the product of the sum of the width of the first vehicle, the width of the second vehicle, and the safety distance, plus the meeting coefficient. This meeting coefficient can be adjusted based on environmental information and the vehicle type information of the second vehicle. For instance, when the second vehicle is a small vehicle such as a sedan, with a small turning radius, the meeting coefficient can be 0.8, meaning L1 is greater than or equal to 0.8 times the length of the second vehicle, and L3 is greater than or equal to 0.8 times the sum of the width of the first vehicle, the width of the second vehicle, and the safety distance. When the second vehicle is a large vehicle such as a truck, bus, or public transport vehicle, with a large turning radius, the meeting coefficient can be 1.2, meaning L1 is greater than or equal to 1.2 times the length of the second vehicle, and L3 is greater than or equal to 1.2 times the width of the first vehicle, the width of the second vehicle, and the safety distance.

[0087] It should be understood that the passing conditions in this application are merely examples and can be adjusted according to actual circumstances. These passing conditions should not be construed as limiting the scope of protection of this application.

[0088] S330: Control the first vehicle based on the first meeting point.

[0089] Optionally, in the meeting method 300, controlling the first vehicle according to the first meeting point includes: controlling the first vehicle to travel to the first meeting point.

[0090] Optionally, after controlling the first vehicle to travel to the first meeting point, the meeting method 300 may further include: after detecting that the second vehicle has passed the first meeting point, controlling the first vehicle to continue traveling.

[0091] It should be noted that, in the following steps, "driving to the first meeting point" means that the frontmost positions of the first and second vehicles have driven to the first meeting point, with the first vehicle driving to the right side of the first meeting point and the second vehicle driving to the left side of the first meeting point.

[0092] The execution process of the vehicle meeting method 300 of this application will be described in detail below with reference to Figures 5 to 14. Figure 6 shows a schematic flowchart of a vehicle meeting method 500 provided in an embodiment of this application. As shown in Figure 6, taking the execution flow of the first vehicle as an example, a vehicle meeting method 500 of this application may include:

[0093] S510: Obtain environmental information around the first vehicle.

[0094] S520: When environmental information indicates that there is at least one location between the first vehicle and the second vehicle that does not meet the meeting conditions, determine whether there is at least one meeting point between the first vehicle and the second vehicle.

[0095] For example, if it is determined that there is at least one meeting point between the first vehicle and the second vehicle, steps S530 and S531 are executed; otherwise, step S540 is executed. Alternatively, if it is determined that there is no meeting point between the first vehicle and the second vehicle, the driver can intervene and switch to manual driving.

[0096] For example, the meeting point can be a second meeting point, where L1 is equal to the length of the second vehicle, L2 is equal to the length of the first vehicle, and L3 is equal to the sum of the width of the first vehicle, the width of the second vehicle, and the safety distance.

[0097] In a passing scenario, there may be multiple passing points that meet the passing conditions, and the set of all passing points constitutes the passing area. As shown in Figure 5(a), when entering the passing state, if the location of the second vehicle is narrower than the location of the first vehicle, there are multiple passing points (from passing point 1 to passing point N, where N is an integer greater than or equal to 1) between passing point 1 (the second passing point) and the first vehicle, and the set of all passing points between passing point 1 and the first vehicle is the passing area; as shown in Figure 5(b), if the location of the first vehicle is narrower than the location of the second vehicle, there are multiple passing points between passing point 2 (the second passing point) and the second vehicle, and the set of all passing points between passing point 2 and the second vehicle is the passing area; as shown in Figure 5(c), there may be more than one second passing point, such as the two second passing points shown in the figure (e.g., passing point 3 and passing point 4), then the passing area is between passing point 3 and passing point 4.

[0098] S530: The second meeting point is designated as the first meeting point.

[0099] S531: Control the first vehicle based on the first meeting point.

[0100] The dashed lines in Figure 5 represent the possible driving paths of the first or second vehicle. As shown in Figures 5(a) and (b), when at least one location between the first and second vehicles meets the passing conditions, the second passing point (passing point 1 in Figure 5(a) and passing point 2 in Figure 5(b)) can be designated as the first passing point. The first vehicle is then guided to the first passing point, and the second vehicle passes through the lane to the left of the first vehicle, completing the passing process. As shown in Figure 5(c), when there is more than one second passing point between the first and second vehicles, any one of the second passing points can be designated as the first passing point. The first vehicle is then guided to the first passing point, and the second vehicle passes through the lane to the left of the first vehicle, completing the passing process. For example, in Figure 5(c), the first vehicle is guided to passing point 3, and the second vehicle passes through the lane to the left of the first vehicle, completing the passing process.

[0101] For example, after controlling the first vehicle to drive to the first meeting point, the first vehicle can also be controlled to remind the second vehicle to proceed to the first meeting point for oncoming traffic by changing its headlights or honking its horn. The headlight changes can be such as turning on the hazard lights or switching between high beams and low beams.

[0102] S540: Determine whether the location of the first vehicle meets the conditions for passing.

[0103] For example, if the location of the first vehicle meets the conditions for passing other vehicles, step S541 is executed; otherwise, step S550 is executed. Alternatively, if the location of the first vehicle does not meet the conditions for passing other vehicles, the driver is prompted to intervene and complete the passing operation manually.

[0104] S541: Control the first vehicle to stop.

[0105] It should be noted that when the first vehicle determines that there is no meeting point within the passable area between the first vehicle and the second vehicle, in order to avoid both vehicles being locked in a position where they cannot pass each other, the first vehicle can also brake to a stop first, and then execute step S540 and subsequent related actions. Figure 7 shows a schematic diagram of a meeting scenario according to an embodiment of this application. The location of the first vehicle is referred to as the first position. As shown in Figure 7, the first position meets the meeting conditions, the first position is determined as the first meeting point, the first vehicle is controlled to brake to a stop at the first position, and the second vehicle passes through the lane to the left of the first vehicle, completing the meeting process.

[0106] Figure 8 illustrates a passing scenario according to an embodiment of this application. In one scenario, as shown in Figure 8, there is no passing point between the first vehicle and the second vehicle, and the position of the first vehicle does not meet the passing conditions. In this scenario, whether the first vehicle brakes to a stop or continues straight, the passing process cannot be completed. At this time, the driver can be prompted to intervene and manually complete the passing operation. For example, the first vehicle can be controlled to perform a series of prompts to the driver, including voice prompts, flashing dashboard indicator lights, and displaying warning information on a display device. Alternatively, the first vehicle can be controlled to brake to remind the driver, or it can slow down and wait for the driver to manually operate.

[0107] S550: Obtain the driving status of the second vehicle.

[0108] Optionally, before step S550, if it is determined that there is no meeting point between the first vehicle and the second vehicle and the location of the first vehicle does not meet the meeting conditions, in order to avoid both vehicles being locked at the same position where they cannot meet, the first vehicle can be controlled to stop first, and then the relevant actions in step S550 can be executed.

[0109] S551: Determine whether the second vehicle is in a reverse driving state.

[0110] For example, if it is determined that the second vehicle is in a reverse driving state, step S552 is executed; otherwise, step S553 is executed.

[0111] S552: Control the first vehicle to follow the second vehicle.

[0112] Figure 9 illustrates a passing scenario according to an embodiment of this application. As shown in Figure 9, if the driving state of the second vehicle changes, for example, if the driving direction of the second vehicle changes from forward to reverse, it is determined that there may be a location in the rear area of ​​the second vehicle that meets the passing conditions (passing point A in Figure 9). For example, the first vehicle can follow the second vehicle to passing point A, and after the second vehicle stops to give way, the first vehicle passes through from the right side of passing point A, completing the passing.

[0113] S553: ​​Determine if there is a third vehicle.

[0114] For example, if there is no third vehicle behind the first vehicle, step S556 is executed; otherwise, step S555 is executed.

[0115] Before executing step S553, the rear camera and sensors of the first vehicle can be activated to obtain information about the surrounding environment and vehicle driving information behind the first vehicle.

[0116] S554: Driver intervention, switching to manual driving.

[0117] S555: Determine whether the third vehicle is in a reverse driving state.

[0118] For example, if it is determined that the third vehicle is in a reverse driving state, step S556 is executed; otherwise, step S554 is executed.

[0119] S556: Obtain the first meeting point in the opposite direction to the current driving direction of the first vehicle.

[0120] In one implementation, during the travel of the first vehicle, environmental information about the roads it travels along can be stored. This environmental information can be stored in the first vehicle's memory or in the cloud. Based on the environmental information about the roads the first vehicle has traveled, it is determined that there is a meeting point in the route that meets the conditions for passing other vehicles. At this point, step S556 can be executed directly to obtain the first meeting point in the opposite direction to the current travel direction of the first vehicle, and then the first vehicle can be controlled based on the first meeting point.

[0121] When the third vehicle reverses, the first vehicle determines that there may be a meeting point behind it (meeting point B in Figure 9). Based on the driving status of the third vehicle and the environmental information of the route taken by the first vehicle, step S556 can be executed. As shown in Figure 9, meeting point B is confirmed as the first meeting point. Further, based on the first meeting point (meeting point B), the first vehicle is controlled.

[0122] For example, the first vehicle can follow the third vehicle back to the meeting point B and stop, waiting for the second vehicle to arrive at the meeting point B to complete the meeting process. After the first vehicle stops, it can remind the second vehicle to proceed to the meeting point B by changing its headlights or honking its horn. The headlight changes could include turning on hazard lights or switching between high and low beams.

[0123] Optionally, the meeting method 500 can also first determine whether there is a third vehicle, and then determine whether the second vehicle is reversing. Figure 10 shows another flowchart for determining the vehicle's driving status and subsequent steps. As shown in Figure 10, when it is determined in step S540 that the position of the first vehicle does not meet the meeting conditions, step S553 can be executed first to determine whether there is a third vehicle. When it is determined in step S553 that there is no third vehicle behind the first vehicle, step S556 is executed to directly obtain the first meeting point in the opposite direction of the first vehicle's current driving direction, and then the first vehicle is controlled according to the first meeting point. When it is determined in step S553 that there is a third vehicle behind the first vehicle, step S555 is executed; if the third vehicle is in a reversing state, step S556 is executed to obtain the first meeting point in the opposite direction of the first vehicle's current driving direction, and then the vehicle follows the third vehicle to the first meeting point, waiting for the second vehicle to reach the first meeting point to complete the meeting. If the third vehicle is not reversing, the first vehicle can execute step S551 to determine whether the second vehicle's driving status is in a reversing state. When it is determined that the second vehicle is reversing, control the first vehicle to follow the second vehicle and complete the meeting; if the second vehicle is not reversing, step S554 can be executed to switch to manual driving.

[0124] In one implementation, after determining in step S540 that the location of the first vehicle does not meet the conditions for passing, the driving status of the second and third vehicles can be obtained through cameras, sensors, or other devices on the front and rear sides of the first vehicle. Different passing steps can be selected by monitoring the driving status of the second and third vehicles. For example, when the second vehicle's driving status changes to a reverse state first, step S552 is executed, controlling the first vehicle to follow the second vehicle; when the third vehicle's driving status changes to a reverse state first, the first vehicle is controlled to follow the third vehicle, and step S556 is executed to obtain the first passing point in the opposite direction to the first vehicle's current driving direction.

[0125] It should be understood that the execution flow of each step in the meeting method 500 shown in Figures 6 and 10 above is only an example, and the execution order of each step in the meeting method 500 above can be flexibly adjusted according to different meeting scenarios.

[0126] In one implementation, when the first vehicle is executing the above-described meeting method 500, if it detects that the second vehicle's driving state changes from forward to stopped while continuing to travel in the current direction, a second position of the second vehicle in the stopped state can be obtained, and then it can be further determined whether the second position meets the meeting conditions. When the second position meets the meeting conditions, the second position can be determined as the first meeting point, and the first vehicle can be controlled to travel to the second position to complete the meeting.

[0127] Optionally, after the second vehicle comes to a stop, it may signal to the first vehicle by flashing its hazard lights, changing its headlights (high or low beam), or honking its horn. In this case, the signaling information of the second vehicle can be obtained, and based on the signaling information and the second vehicle's position at a stop, it can be determined that the second position meets the conditions for passing. This second position can then be designated as the first passing point, and the first vehicle can be controlled to drive to this second position to complete the passing maneuver.

[0128] Figure 11 illustrates a scenario of vehicles meeting oncoming traffic. For example, as shown in Figure 11, if the second vehicle stops and then signals the first vehicle by flashing its hazard lights, changing its headlights, or honking its horn, the system identifies the second vehicle's position when it is stopped. When the second position meets the conditions for meeting oncoming traffic, the system designates the second position as the first meeting point and controls the first vehicle to pass through the lane to the right of the first meeting point, thus completing the meeting process.

[0129] In real-world oncoming traffic scenarios, the first and second vehicles typically travel at different speeds. If the first vehicle is traveling faster than the second, and the first vehicle stops at a meeting point close to its initial position, it may need to wait a considerable amount of time until the second vehicle reaches the meeting point and completes the meeting before it can restart. Therefore, this application provides an alternative oncoming traffic method that reduces the waiting time of the first vehicle by determining the meeting point and the passing point, thereby further improving oncoming traffic efficiency.

[0130] Optionally, the meeting method 300 may further include: obtaining driving information of the second vehicle; determining the meeting point of the first vehicle and the second vehicle based on environmental information and driving information; wherein, when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions, obtaining the first meeting point includes: when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions and the meeting point meets the meeting conditions, determining the meeting point as the first meeting point.

[0131] Optionally, the meeting method 300 may further include: obtaining driving information of the second vehicle; determining the meeting point of the first vehicle and the second vehicle based on environmental information and driving information; wherein, when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions, obtaining the first meeting point includes: obtaining the first meeting point when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point.

[0132] Optionally, in the meeting method 300, when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point, obtaining the first meeting point includes: obtaining multiple meeting points when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point; and determining the meeting point closest to the meeting point among the multiple meeting points as the first meeting point.

[0133] Optionally, in the meeting method 300, when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point, obtaining the first meeting point includes: when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point, controlling the first vehicle to stop; when the first position of the first vehicle in the stopped state meets the meeting conditions, determining the first position as the first meeting point.

[0134] Figure 12 shows a schematic flowchart of a vehicle meeting method 600 provided in an embodiment of this application. As shown in Figure 12, taking the execution flow of the first vehicle as an example, the vehicle meeting method 600 of this application includes:

[0135] S610: Obtain environmental information around the first vehicle and driving information of the second vehicle.

[0136] The first vehicle can identify surrounding environmental information and the driving information of the second vehicle through a sensing module. The surrounding environmental information includes the locations of the first and second vehicles, the distance between them, information on passable and impassable areas, etc. The driving information of the second vehicle can include its speed and vehicle type.

[0137] S620: When environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the conditions for meeting, the meeting point of the first vehicle and the second vehicle shall be determined based on the environmental information and driving information.

[0138] Figure 13 illustrates a meeting point prediction diagram according to an embodiment of this application. As shown in Figure 13, assuming the first vehicle and the second vehicle are traveling in the direction indicated by the arrows, they will meet at a certain position between them during their opposite journey. This position is referred to as the meeting point in this embodiment. In one implementation, the meeting point of the first vehicle and the second vehicle can be determined by the speeds and initial distances of the two vehicles. For example, assuming both vehicles are traveling at a constant speed before meeting, the current speed of the first vehicle is its travel speed, and the current speed of the second vehicle is its travel speed. The travel time T0 taken by the first vehicle and the second vehicle from the meeting point can be calculated using the following formula: S1 = V1 * T0 + V2 * T0

[0139] Where S1 is the initial distance between the first and second vehicles in the current state, V1 is the speed of the first vehicle, and V2 is the speed of the second vehicle. Based on the travel time T0 calculated using this formula, the distance S2 between the location of the first vehicle and the meeting point can be calculated using the following formula: S2 = V1 * T0

[0140] By calculating S2, the location of the meeting point can be determined for the first vehicle.

[0141] The possible distance the first vehicle can travel from its current location to the meeting point can be represented by S. i S indicates that i S can be calculated using the following formula: i =V1*T i

[0142] Among them, T i A number greater than 0 and less than T0 represents any time point within the range of 0 to T0. Based on the distance traveled by the first vehicle, the range between the location of the first vehicle and the meeting point can be called the driving area of ​​the first vehicle, which can be referred to as the diagonal area in Figure 13.

[0143] In one implementation, if the second vehicle is in a stopped state, the stopping position of the second vehicle is the meeting point according to the above method for calculating the meeting point.

[0144] It should be understood that the above method for determining the meeting point is only an example, and the calculation scheme for the meeting point can be flexibly adjusted according to the actual driving conditions of the vehicles.

[0145] S630: Determine whether the meeting point meets the conditions for passing other vehicles.

[0146] For example, if the meeting point meets the conditions for passing vehicles, steps S640 and S641 are executed; otherwise, step S650 can be executed.

[0147] Based on the meeting point location determined in step S620, it can be determined whether the meeting point meets the conditions for passing oncoming vehicles. The method for determining the conditions for passing oncoming vehicles can be referred to the explanations in steps S320 and S520 above.

[0148] S640: The meeting point is determined as the first meeting point.

[0149] S641: Control the first vehicle based on the first meeting point.

[0150] As shown in Figure 13, the first vehicle is controlled to drive to the first meeting point (meeting point), and the second vehicle drives through the lane to the left of the first vehicle to complete the meeting process.

[0151] S650: Determine whether there is a meeting point within the driving area of ​​the first vehicle.

[0152] For example, if there is a meeting point within the driving area of ​​the first vehicle, steps S660 and S661 are executed; otherwise, step S670 is executed.

[0153] Optionally, if it takes a long time for the first vehicle to determine the meeting point, in order to prevent the first vehicle from missing the meeting point, the first vehicle can also stop before executing step S650 and determine whether there is a meeting point in the driving space of the first vehicle while it is stopped.

[0154] S660: Obtain multiple meeting points and determine the meeting point closest to the meeting point as the first meeting point.

[0155] S661: Control the first vehicle based on the first meeting point.

[0156] Figure 14 illustrates a meeting scenario according to an embodiment of this application. As shown in Figure 14, there may be more than one meeting point within the driving area of ​​the first vehicle. The collection of these meeting points constitutes the meeting area, and the driving area of ​​the first vehicle and the meeting area overlap. To reduce the waiting time of the first vehicle, the meeting point closest to the meeting point among the multiple meeting points can be determined as the first meeting point. Then, the first vehicle is controlled to drive to the first meeting point (the meeting point closest to the meeting point) and wait for the second vehicle to pass through the left lane of the first vehicle to complete the meeting.

[0157] S670: Determine whether the location of the first vehicle meets the conditions for passing.

[0158] For example, if the location of the first vehicle meets the conditions for passing other vehicles, step S680 is executed; otherwise, steps S690 and S691 are executed. Alternatively, if it is determined that the location of the first vehicle does not meet the conditions for passing other vehicles, the driver intervenes and switches to manual driving.

[0159] S680: Control the first vehicle to stop.

[0160] Referring to the embodiment shown in Figure 7, if the first position meets the conditions for passing other vehicles, the first vehicle is controlled to stop at the first position, and the second vehicle passes through the lane to the left of the first vehicle, thus completing the passing process.

[0161] S690: Obtain environmental information around the first vehicle.

[0162] In one embodiment, the environmental information around the first vehicle may include road information and information about other vehicles within the line of sight around the first vehicle, such as the location and driving status of the other vehicles.

[0163] S691: Based on the environmental information surrounding the first vehicle, execute the corresponding action.

[0164] For example, when the environmental information around the first vehicle indicates that there is a meeting point behind the first vehicle that meets the conditions for meeting other vehicles, the first meeting point in the opposite direction to the current driving direction of the first vehicle can be obtained, and the first vehicle can be controlled according to the first meeting point.

[0165] For example, when the environmental information around the first vehicle indicates that there is a third vehicle behind the first vehicle, corresponding actions can be performed according to the driving state of the third vehicle. For instance, referring to step S555 in the aforementioned meeting method 500, it can be determined whether the third vehicle is in a reverse state. When the third vehicle is in a reverse state, step S556 in the meeting method 500 can be referred to to obtain the first meeting point in the opposite direction to the current driving direction of the first vehicle, and the first vehicle can be controlled to follow the third vehicle to the first meeting point.

[0166] For example, when the environmental information around the first vehicle indicates that the second vehicle is to stop, the method shown in Figure 11 above can be used to determine whether the second position of the second vehicle in the stopped state meets the meeting conditions. When the second position meets the meeting conditions, the second position can be determined as the first meeting point, and the first vehicle can be controlled to drive to the first meeting point to complete the meeting.

[0167] For example, when the environmental information around the first vehicle indicates that the second vehicle is in a reverse state, it is determined that there may be a position in the rear area of ​​the second vehicle that meets the conditions for passing. At this time, step S552 in the aforementioned passing method 500 can be referred to to control the first vehicle to follow the second vehicle.

[0168] In one implementation, step S650 can also be omitted. That is, after determining that the meeting point does not meet the conditions for passing other vehicles, step S670 can be executed directly to determine whether the location of the first vehicle meets the conditions for passing other vehicles, and then step S680 or S690 can be executed based on the determination result.

[0169] Based on the above meeting method 600, the first vehicle predicts the meeting point and driving area, and then judges whether the meeting point and driving area meet the meeting conditions, providing a high-value reference for meeting behavior decision-making, which can reduce the waiting time of the first vehicle and improve meeting efficiency.

[0170] The above embodiments are all illustrated using an intelligent driving system as the executing entity. However, the executing entity can also be an advanced driver assistance system.

[0171] Optionally, in the meeting method 300, controlling the first vehicle according to the first meeting point includes: controlling the display device of the first vehicle to display information about the first meeting point.

[0172] The meeting method 300 of this application embodiment can also be applied to advanced driver assistance systems. For example, for some first vehicles equipped with display devices, after obtaining a first meeting point, the display device of the first vehicle can be controlled to display the information of the first meeting point. The driver can refer to the information of the first meeting point to make a final driving decision. In one embodiment, the display device of the first vehicle may further include a driving path from the current position of the first vehicle to the first meeting point. This driving path can refer to the path shown by the dashed line in Figure 5(b) or (c), and the driver can perform corresponding driving operations based on this driving path.

[0173] Figure 15 shows a schematic block diagram of a passing device 2000 provided in an embodiment of this application. The passing device 2000 includes: an acquisition unit 2100, used to acquire environmental information around a first vehicle, and further used to acquire a first passing point when the environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the passing conditions, wherein the first vehicle and the second vehicle meet the passing conditions at the first passing point; and a control unit 2200, used to control the first vehicle according to the first passing point.

[0174] In one embodiment, the vehicle meeting device 2000 may further include a determining unit.

[0175] Optionally, the acquisition unit 2100 is further configured to acquire the driving information of the second vehicle; the determination unit is configured to determine the meeting point of the first vehicle and the second vehicle based on the environmental information and the driving information; when the environmental information indicates that there is at least one position between the first vehicle and the second vehicle that does not meet the meeting conditions and the meeting point meets the meeting conditions, the meeting point is determined as the first meeting point.

[0176] Optionally, the acquisition unit 2100 is further configured to acquire the driving information of the second vehicle; the determination unit is configured to determine the meeting point of the first vehicle and the second vehicle based on the environmental information and the driving information; the acquisition unit 2100 is further configured to acquire the first meeting point when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point.

[0177] Optionally, the acquisition unit 2100 is specifically used to: acquire multiple meeting points when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point; the determination unit is also used to determine the meeting point closest to the meeting point among these multiple meeting points as the first meeting point.

[0178] Optionally, the control unit 2200 is further configured to control the first vehicle to stop when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point; the determining unit is further configured to determine the first position as the first meeting point when the first position of the first vehicle in the stopped state meets the meeting conditions.

[0179] Optionally, the acquisition unit 2100 is further configured to acquire the second position of the second vehicle when it is in a stopped state, when environmental information indicates that at least one position between the first vehicle and the second vehicle does not meet the meeting conditions and the second vehicle continues to travel in the current direction of travel; the determination unit is configured to determine the second position as the first meeting point when the meeting conditions are met at the second position.

[0180] Optionally, the acquisition unit 2100 is specifically used to: when all positions between the first vehicle and the second vehicle do not meet the meeting conditions, acquire the first meeting point in the opposite direction to the current driving direction of the first vehicle based on environmental information.

[0181] Optionally, the control unit 2200 is specifically used to control the first vehicle to travel to the first meeting point.

[0182] Optionally, after controlling the first vehicle to travel to the first meeting point, the control unit 2200 is specifically used to: control the first vehicle to continue traveling after the second vehicle passes the first meeting point.

[0183] Optionally, the control unit 2200 is specifically used to: control the display device of the first vehicle to display information about the first meeting point.

[0184] For example, the acquisition unit 2100 can be the computing platform in Figure 1 or the processing circuit, processor, or controller in the computing platform. Taking the processor 151 in the computing platform as an example, the acquisition unit 2100 can acquire environmental information around the first vehicle, and can also acquire the first meeting point when the environmental information indicates that there is at least one position between the first vehicle and the second vehicle that does not meet the meeting conditions. The first vehicle and the second vehicle meet the meeting conditions at the first meeting point.

[0185] For example, the determining unit can be the computing platform in Figure 1, or the processing circuit, processor, or controller within the computing platform. Taking the processor 152 in the computing platform as an example, after the processor 151 acquires the environmental information around the first vehicle, the processor 152 can determine the meeting point of the first vehicle and the second vehicle based on the environmental information and driving information.

[0186] For example, the control unit 2200 can be the computing platform 150 in Figure 1, or the processing circuit, processor, or controller in the computing platform 150. Taking the processor 153 in the computing platform as an example, the processor 153 can control the first vehicle based on the first meeting point obtained by the processor 152.

[0187] The functions implemented by the acquisition unit 2100, the determination unit, and the control unit 2200 can be implemented by different processors, or they can be implemented by the same processor, or some functions can be implemented by the same processor. This application embodiment does not limit this.

[0188] It should be understood that the division of units in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the device can be implemented by a processor calling software; for example, the device includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be, for example, a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. The functions of some or all units can be implemented through the design of the hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all units are implemented through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby implementing the functions of some or all units. All units of the above devices can be implemented entirely through processor calling software, or entirely through hardware circuits, or partially through processor calling software with the remaining parts implemented through hardware circuits.

[0189] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, or DPU.

[0190] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0191] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a System-on-a-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and AI processor, CPU and GPU, etc.

[0192] This application also provides a vehicle-passing device, which includes: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device can execute any of the vehicle-passing methods described in the above embodiments.

[0193] Alternatively, if the device is located in a vehicle, the processor may be the processor 151-15n shown in Figure 1.

[0194] This application also provides a vehicle that may include the aforementioned vehicle meeting device 2000 or the intelligent driving system shown in FIG2.

[0195] This application also provides a computer-readable medium storing instructions that, when executed by a processor, cause the processor to implement any of the meeting methods described in the above embodiments.

[0196] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to execute any of the meeting methods described in the above embodiments.

[0197] This application also provides a chip that includes a circuit that can be used to execute any of the meeting methods described in the above embodiments.

[0198] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, power-on erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0199] It should be understood that in the embodiments of this application, the memory may include read-only memory and random access memory, and provides instructions and data to the processor.

[0200] It should also be understood that, in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0201] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0202] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0203] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0204] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0205] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0206] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0207] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for meeting oncoming traffic, characterized in that, The method includes: Obtain environmental information surrounding the first vehicle; When the environmental information indicates that there is at least one location between the first vehicle and the second vehicle that does not meet the meeting conditions, a first meeting point is obtained, and the first vehicle and the second vehicle meet the meeting conditions at the first meeting point. Control the first vehicle based on the first meeting point.

2. The meeting method according to claim 1, characterized in that, The method further includes: Obtain the driving information of the second vehicle; Based on the environmental information and the driving information, the meeting point between the first vehicle and the second vehicle is determined; Wherein, the step of obtaining the first meeting point when the environmental information indicates that at least one location between the first vehicle and the second vehicle does not meet the meeting conditions includes: When the environmental information indicates that there is at least one location between the first vehicle and the second vehicle that does not meet the meeting conditions, but the meeting point meets the meeting conditions, the meeting point is determined as the first meeting point.

3. The method for meeting vehicles according to claim 1, characterized in that, The method further includes: Obtain the driving information of the second vehicle; Based on the environmental information and the driving information, the meeting point between the first vehicle and the second vehicle is determined; Wherein, the step of obtaining the first meeting point when the environmental information indicates that at least one location between the first vehicle and the second vehicle does not meet the meeting conditions includes: When the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point, the first meeting point is obtained.

4. The meeting method according to claim 3, characterized in that, The step of obtaining the first meeting point when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point includes: When the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point, multiple meeting points are obtained; The meeting point closest to the meeting point among the plurality of meeting points is determined as the first meeting point.

5. The meeting method according to claim 3, characterized in that, The step of obtaining the first meeting point when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point includes: When the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point, the first vehicle is controlled to stop. When the first vehicle is in a stopped state and the first position meets the meeting conditions, the first position is determined as the first meeting point.

6. The method for meeting vehicles according to claim 1, characterized in that, When the environmental information indicates that at least one location between the first vehicle and the second vehicle does not meet the passing conditions, obtaining the first passing point includes: When the environmental information indicates that there is at least one position between the first vehicle and the second vehicle that does not meet the conditions for passing each other, and when it is detected that the second vehicle continues to travel in the current direction of travel, the second position of the second vehicle when it is in a braking state is obtained; When the meeting conditions are met at the second position, the second position is determined as the first meeting point.

7. The method for meeting oncoming traffic according to claim 1, characterized in that, When the environmental information indicates that at least one location between the first vehicle and the second vehicle does not meet the passing conditions, obtaining the first passing point includes: When the meeting conditions are not met at all positions between the first vehicle and the second vehicle, the first meeting point in the opposite direction to the current driving direction of the first vehicle is obtained based on the environmental information.

8. The meeting method according to any one of claims 1 to 7, characterized in that, The step of controlling the first vehicle according to the first meeting point includes: Control the first vehicle to drive to the first meeting point.

9. The method for meeting vehicles according to claim 8, characterized in that, After controlling the first vehicle to travel to the first meeting point, the method further includes: After detecting that the second vehicle has passed the first meeting point, control the first vehicle to continue driving.

10. The meeting method according to any one of claims 1 to 7, characterized in that, The step of controlling the first vehicle according to the first meeting point includes: The display device controlling the first vehicle displays information about the first meeting point.

11. A vehicle-passing device, characterized in that, The device includes: The acquisition unit is configured to acquire environmental information around the first vehicle; and is further configured to acquire a first meeting point when the environmental information indicates that there is at least one location between the first vehicle and the second vehicle that does not meet the meeting conditions, wherein the first vehicle and the second vehicle meet the meeting conditions at the first meeting point. The control unit is used to control the first vehicle based on the first meeting point.

12. The meeting device according to claim 11, characterized in that, The acquisition unit is further configured to acquire the driving information of the second vehicle; The vehicle meeting device also includes: The determining unit is configured to determine the meeting point of the first vehicle and the second vehicle based on the environmental information and the driving information; when the environmental information indicates that there is at least one location between the first vehicle and the second vehicle that does not meet the meeting conditions and the meeting point meets the meeting conditions, the meeting point is determined as the first meeting point.

13. The meeting device according to claim 11, characterized in that, The acquisition unit is further configured to acquire the driving information of the second vehicle; The vehicle meeting device also includes: The determining unit is configured to determine the meeting point between the first vehicle and the second vehicle based on the environmental information and the driving information. The acquisition unit is also used to acquire the first meeting point when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point.

14. The meeting device according to claim 13, characterized in that, The acquisition unit is specifically used to: acquire multiple meeting points when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point; The determining unit is specifically used to: determine the meeting point closest to the meeting point among the plurality of meeting points as the first meeting point.

15. The meeting device according to claim 13, characterized in that, The control unit is further configured to control the first vehicle to stop when the first vehicle and the second vehicle do not meet the meeting conditions at the meeting point; The determining unit is specifically used to: when the first vehicle is in a stopped state and its first position meets the meeting conditions, determine the first position as the first meeting point.

16. The meeting device according to claim 11, characterized in that, The acquisition unit is further configured to acquire the second position of the second vehicle when it is in a stopped state when the environmental information indicates that there is at least one position between the first vehicle and the second vehicle that does not meet the conditions for passing each other, and the second vehicle continues to travel along the current driving direction; The vehicle meeting device also includes: The determining unit is used to determine the second position as the first meeting point when the meeting conditions are met at the second position.

17. The meeting device according to claim 11, characterized in that, The acquisition unit is specifically used for: When the meeting conditions are not met at all positions between the first vehicle and the second vehicle, the first meeting point in the opposite direction to the current driving direction of the first vehicle is obtained based on the environmental information.

18. The meeting device according to any one of claims 11 to 17, characterized in that, The control unit is specifically used for: Control the first vehicle to drive to the first meeting point.

19. The meeting device according to claim 18, characterized in that, After controlling the first vehicle to travel to the first meeting point, the control unit is further configured to: After the second vehicle passes the first meeting point, control the first vehicle to continue driving.

20. The meeting device according to any one of claims 11 to 17, characterized in that, The control unit is specifically used for: The display device controlling the first vehicle displays information about the first meeting point.

21. A vehicle-passing device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the apparatus to perform the method as described in any one of claims 1 to 10.

22. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 11 to 21.

23. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, cause the processor to implement the method as described in any one of claims 1 to 10.

24. A computer program product, characterized in that, The computer program product includes computer program code that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 10.

25. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 10.

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