CN112721928A - Car following strategy determination method and device, electronic equipment and storage medium - Google Patents
Car following strategy determination method and device, electronic equipment and storage medium Download PDFInfo
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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Abstract
The application provides a car following strategy determination method, a car following strategy determination device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring running environment information, vehicle attribute information and a running plan of a current vehicle; the driving environment information comprises lane information of a lane where the current vehicle is located and surrounding vehicle information; the surrounding vehicle information comprises the vehicle types, the vehicle speeds and the distances between the current vehicle of the front vehicle and other surrounding vehicles; and generating a following strategy of the current vehicle according to the driving plan, the vehicle attribute information of the current vehicle and the driving environment information based on a preset following rule. The method provided by the scheme combines multiple factors of the driving plan, the vehicle attribute information of the current vehicle and the driving environment information to generate the following strategy of the current vehicle, improves the reliability of the obtained following strategy, and lays a foundation for improving the driving efficiency of the vehicle.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a vehicle following strategy determining method and device, electronic equipment and a storage medium.
Background
With the popularization of intelligent driving, how to determine a proper following strategy becomes a key research content due to the wide application of an Adaptive Cruise Control (ACC).
In the prior art, the speed of the current vehicle is also typically adjusted based on the speed and relative distance of the leading vehicle.
However, when the vehicle runs in a complex driving environment, the following strategy is determined only by the speed of the front vehicle and the relative distance between the front vehicle and the rear vehicle, which cannot meet the actual requirement, and thus the driving efficiency is low. Therefore, a method for determining a following strategy with higher reliability is urgently needed, and has important significance for improving the driving efficiency of the vehicle.
Disclosure of Invention
The application provides a following strategy determination method, a following strategy determination device, an electronic device and a storage medium, and aims to overcome the defects of low reliability and the like in the prior art.
The first aspect of the present application provides a following strategy determining method, including:
acquiring running environment information, vehicle attribute information and a running plan of a current vehicle; the driving environment information comprises lane information of a lane where the current vehicle is located and surrounding vehicle information; the surrounding vehicle information comprises the vehicle types, the vehicle speeds and the distances between the current vehicle of the front vehicle and other surrounding vehicles;
and generating a following strategy of the current vehicle according to the driving plan, the vehicle attribute information of the current vehicle and the driving environment information based on a preset following rule.
Optionally, the generating a following strategy of the current vehicle according to the preset driving plan, the vehicle attribute information of the current vehicle and the driving environment information based on the preset following rule includes:
judging whether the current vehicle needs to change lanes or not according to the type of the front vehicle and/or lane information of a lane where the current vehicle is located;
when the current vehicle is determined to need lane changing, determining the speed of a target vehicle on a left lane or a right lane of the current lane and the distance between the target vehicle and the current vehicle according to the surrounding vehicle information;
and generating a corresponding following strategy according to the speed of the target vehicle, the distance between the target vehicle and the current speed of the current vehicle based on a preset lane changing rule.
Optionally, the method further includes:
judging whether the current lane meets the driving condition or not according to the vehicle attribute information of the current vehicle and the lane information of the lane where the current vehicle is located;
when the current lane does not meet the driving condition, generating following alarm information;
the vehicle attribute information of the current vehicle comprises the vehicle width and the vehicle height, and the lane information comprises the lane width limit and the lane height limit.
Optionally, the method further includes:
and when the current lane meets the driving condition, executing the step of generating the following strategy of the current vehicle according to a preset driving plan, the vehicle attribute information of the current vehicle and the driving environment information based on the preset following rule.
Optionally, the determining whether the current lane meets the driving condition according to the attribute information of the current vehicle and the lane information of the lane where the current vehicle is located includes:
and when the vehicle width of the current vehicle is larger than the lane limit width or the vehicle height of the current vehicle is larger than the lane limit height, determining that the current lane does not meet the driving condition.
Optionally, the method further includes:
and when the vehicle width of the current vehicle is not larger than the lane limit width and the vehicle height of the current vehicle is not larger than the lane limit height, determining that the current lane meets the driving condition.
Optionally, the acquiring the running environment information of the current vehicle includes:
acquiring a driving video, a radar signal and the current speed of the current vehicle in the following driving process of the current vehicle;
determining lane information of a lane where the current vehicle is located and vehicle types of surrounding vehicles according to the driving video;
and determining the speed of the surrounding vehicle and the distance between the surrounding vehicle and the current vehicle according to the radar signal and the current speed of the current vehicle.
A second aspect of the present application provides a following policy determining apparatus, including:
the acquisition module is used for acquiring the running environment information, the vehicle attribute information and the running plan of the current vehicle; the driving environment information comprises lane information of a lane where the current vehicle is located and surrounding vehicle information; the surrounding vehicle information comprises the vehicle types, the vehicle speeds and the distances between the current vehicle of the front vehicle and other surrounding vehicles;
and the determining module is used for generating a following strategy of the current vehicle according to the driving plan, the vehicle attribute information of the current vehicle and the driving environment information based on a preset following rule.
Optionally, the determining module is specifically configured to:
judging whether the current vehicle needs to change lanes or not according to the type of the front vehicle and/or lane information of a lane where the current vehicle is located;
when the current vehicle is determined to need lane changing, determining the speed of a target vehicle on a left lane or a right lane of the current lane and the distance between the target vehicle and the current vehicle according to the surrounding vehicle information;
and generating a corresponding following strategy according to the speed of the target vehicle, the distance between the target vehicle and the current speed of the current vehicle based on a preset lane changing rule.
Optionally, the system further comprises a security module, configured to:
judging whether the current lane meets the driving condition or not according to the vehicle attribute information of the current vehicle and the lane information of the lane where the current vehicle is located;
when the current lane does not meet the driving condition, generating following alarm information;
the vehicle attribute information of the current vehicle comprises the vehicle width and the vehicle height, and the lane information comprises the lane width limit and the lane height limit.
Optionally, the security module is further configured to:
and when the current lane meets the driving condition, executing the step of generating the following strategy of the current vehicle according to a preset driving plan, the vehicle attribute information of the current vehicle and the driving environment information based on the preset following rule.
Optionally, the security module is specifically configured to:
and when the vehicle width of the current vehicle is larger than the lane limit width or the vehicle height of the current vehicle is larger than the lane limit height, determining that the current lane does not meet the driving condition.
Optionally, the security module is specifically configured to:
and when the vehicle width of the current vehicle is not larger than the lane limit width and the vehicle height of the current vehicle is not larger than the lane limit height, determining that the current lane meets the driving condition.
Optionally, the obtaining module is specifically configured to:
acquiring a driving video, a radar signal and the current speed of the current vehicle in the following driving process of the current vehicle;
determining lane information of a lane where the current vehicle is located and vehicle types of surrounding vehicles according to the driving video;
and determining the speed of the surrounding vehicle and the distance between the surrounding vehicle and the current vehicle according to the radar signal and the current speed of the current vehicle.
A third aspect of the present application provides an electronic device, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executes computer-executable instructions stored by the memory to cause the at least one processor to perform the method as set forth in the first aspect above and in various possible designs of the first aspect.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon computer-executable instructions that, when executed by a processor, implement a method as set forth in the first aspect and various possible designs of the first aspect.
This application technical scheme has following advantage:
according to the following strategy determining method, the following strategy determining device, the electronic equipment and the storage medium, the driving environment information, the vehicle attribute information and the driving plan of the current vehicle are obtained; the driving environment information comprises lane information of a lane where the current vehicle is located and surrounding vehicle information; the surrounding vehicle information comprises the vehicle types, the vehicle speeds and the distances between the current vehicle of the front vehicle and other surrounding vehicles; and generating a following strategy of the current vehicle according to the driving plan, the vehicle attribute information of the current vehicle and the driving environment information based on a preset following rule. The method provided by the scheme combines multiple factors of the driving plan, the vehicle attribute information of the current vehicle and the driving environment information to generate the following strategy of the current vehicle, improves the reliability of the obtained following strategy, and lays a foundation for improving the driving efficiency of the vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art according to these drawings.
Fig. 1 is a schematic structural diagram of a following policy determination system according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a following strategy determination method provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a following strategy determination device provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the prior art, the speed of the current vehicle is also adjusted, usually according to the speed and relative distance of the preceding vehicle. However, when the vehicle runs in a complex driving environment, the following strategy is determined only by the speed of the front vehicle and the relative distance between the front vehicle and the rear vehicle, which cannot meet the actual requirement, and thus the driving efficiency is low.
In order to solve the above problems, the following strategy determining method, the following strategy determining device, the electronic device and the storage medium provided by the embodiment of the application acquire driving environment information, vehicle attribute information and a driving plan of a current vehicle; the driving environment information comprises lane information of a lane where the current vehicle is located and surrounding vehicle information; the surrounding vehicle information comprises the vehicle types, the vehicle speeds and the distances between the current vehicle of the front vehicle and other surrounding vehicles; and generating a following strategy of the current vehicle according to the driving plan, the vehicle attribute information and the driving environment information of the current vehicle based on a preset following rule. The method provided by the scheme combines multiple factors of the driving plan, the vehicle attribute information and the driving environment information of the current vehicle to generate the following strategy of the current vehicle, improves the reliability of the obtained following strategy, and lays a foundation for improving the driving efficiency of the vehicle.
The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
First, a structure of a following policy determination system based on the present application will be explained:
the following strategy determining method and device, the electronic device and the storage medium provided by the embodiment of the application are suitable for determining the following strategy of the current vehicle. As shown in fig. 1, the structural schematic diagram of the following strategy determination system based on the embodiment of the present application mainly includes a current vehicle, a data acquisition device, and a following strategy determination device for determining a following strategy. Specifically, the data acquisition device is used for acquiring the running environment information, the vehicle attribute information and the driving plan of the current vehicle, and transmitting the data to the following strategy determination device so as to generate the corresponding following strategy.
The embodiment of the application provides a following strategy determining method, which is used for determining a following strategy of a current vehicle and providing guidance for an adaptive cruise control system. The execution subject of the embodiment of the application is an electronic device, such as a server, a desktop computer, a notebook computer, a tablet computer, and other electronic devices that can be used for determining the following policy.
As shown in fig. 2, a schematic flow chart of a following policy determination method provided in an embodiment of the present application is shown, where the method includes:
The driving environment information comprises lane information of a lane where the current vehicle is located and surrounding vehicle information; the surrounding vehicle information includes the model of the preceding vehicle and other surrounding vehicles, the vehicle speed, and the distance to the current vehicle.
It should be explained that the lane information may include keywords on a driving lane, speed limit signs and road height limit signs around a road, and the vehicle attribute information of the current vehicle at least includes the current vehicle speed of the current vehicle.
Specifically, in one embodiment, a driving video, a radar signal and a current vehicle speed of a current vehicle during following driving of the current vehicle may be obtained; determining lane information of a lane where the current vehicle is located and vehicle types of surrounding vehicles according to the driving video; and determining the speed of the surrounding vehicle and the distance between the surrounding vehicle and the current vehicle according to the radar signal and the current speed of the current vehicle.
It should be explained that the data acquisition device may include a camera device, a radar device, and the like provided in the current vehicle.
Specifically, a common image processing technique may be adopted to determine the lane information of the current lane and the vehicle types of the surrounding vehicles according to the obtained driving video. Similarly, the prior art may be referred to for the processing procedure of the radar signal, and the embodiments of the present application are not limited thereto.
It should be explained that the following rule can be specifically set according to the driving requirements such as the current legal traffic rules, and the embodiment of the present application is not limited.
Specifically, surrounding vehicles (vehicle types) such as a large truck, a large bus, a small car, a minibus, a bus, a bicycle, a tricycle, a motorcycle, and the like can be classified by image features in the driving video. And further combining the vehicle types of surrounding vehicles to generate a corresponding vehicle following strategy.
Specifically, in an embodiment, whether the current vehicle needs to change lanes or not may be determined according to the vehicle type of the preceding vehicle and/or the lane information of the lane where the current vehicle is located; when the current vehicle is determined to need lane changing, determining the speed of a target vehicle on a left lane or a right lane of the current lane and the distance between the target vehicle and the current vehicle according to the surrounding vehicle information; and generating a corresponding following strategy according to the speed of the target vehicle, the distance between the target vehicle and the current speed of the current vehicle based on a preset lane changing rule.
Specifically, when the preceding bus to follow is a bus, the bus may travel on a bus lane, and if the following strategy is determined based on the prior art, the bus stops along with the arrival stop of the bus, which causes unnecessary stop waiting time.
Specifically, the current vehicle is a bus, or a bus lane mark is arranged on the current lane, so that the fact that the current vehicle needs to change lanes can be determined. Further, whether the current vehicle has a lane change condition or not is determined according to the information of the surrounding vehicles, and finally a following strategy for how to carry out lane change driving is generated.
For example, when the current vehicle is a bus and runs along with a common vehicle, if the lane information of the current lane is not identified, the current vehicle is likely to run on a road which is unfavorable for the running of the current vehicle, and the technical scheme provided by the embodiment of the application can improve the running efficiency of the bus on the special road.
Specifically, when the speed of the vehicle in front is too slow, the information of the vehicle around the current vehicle and the congestion state of the road section acquired from the cloud are combined to determine whether lane changing is needed or not, or a driving plan is adjusted and the like. The driving mileage of the current vehicle in unit time can be improved, and the driving efficiency is improved.
Specifically, when the current vehicle runs on a normal running road, according to the control information issued by the cloud, a temporary vehicle safety check spot check may exist in a certain road section (for example, the current vehicle is checked without spot check, and when the current vehicle is checked, the current vehicle runs along with the previous vehicle at this time, the laws and regulations are violated). For example, a rescue vehicle and the like at the rear need to pass through (to occupy the current lane where the current vehicle runs), and measures such as giving a gift need to be carried out. The corresponding car following strategy is generated by combining the information of the cloud, so that the car following strategy obtained by the embodiment of the application is more in line with the real scene, and the reliability is higher.
On the basis of the foregoing embodiment, in order to further ensure the driving safety, as an implementable manner, on the basis of the foregoing embodiment, in an embodiment, the method further includes:
step 301, judging whether the current lane meets the driving condition or not according to the vehicle attribute information of the current vehicle and the lane information of the lane where the current vehicle is located;
step 302, when the current lane does not meet the driving condition, generating following alarm information;
the vehicle attribute information of the current vehicle comprises the vehicle width and the vehicle height, and the lane information comprises the lane width limit and the lane height limit.
Specifically, in one embodiment, when the vehicle width of the current vehicle is greater than the lane limit width, or the vehicle height of the current vehicle is greater than the lane limit height, it is determined that the current lane does not satisfy the driving condition.
In contrast, in an embodiment, when the vehicle width of the current vehicle is not greater than the lane limit width and the vehicle height of the current vehicle is not greater than the lane limit height, it is determined that the current lane satisfies the driving condition.
Specifically, when the following vehicle is a common tricycle, the vehicle is accelerated on a certain road section, and if the current vehicle judges whether the vehicle can be accelerated only according to the distance between the vehicles ahead, the safety is not complete enough. In addition, in some road sections, because the width of the road is not enough, or the width of the road capable of running cannot be passed by the current vehicle, although the tricycle or the electric vehicle can run, if the passing width of the lane (lane width limit) is not compared with the width of the current vehicle, the potential safety hazard is also brought to the driving. Similarly, if the lane height limit of the current lane cannot meet the vehicle height of the current vehicle, the potential safety hazard is also brought to driving. In addition, cables above the lane, the height of the tree branches beside the lane and the like can be comprehensively considered, so that the driving space of the vehicle can be further predicted, and a foundation is laid for avoiding driving danger.
For example, when the current vehicle is a large truck, the height of the truck body is high, and if a following strategy is generated only according to the distance between the vehicles in front in some road sections, the vehicles are reminded to accelerate, but a height limit mark may be arranged above the current lane in front, or cables, tree branches and the like influence the driving safety, the surrounding environment is sensed (driving environment information), and the driving safety is estimated by combining the vehicle parameters (vehicle attribute information), so that a foundation is laid for avoiding driving danger.
Correspondingly, in an embodiment, when the current lane meets the driving condition, a step of generating a following strategy of the current vehicle according to a preset driving plan, the vehicle attribute information of the current vehicle and the driving environment information based on a preset following rule is performed.
Further, in an embodiment, the generated alarm information may be specifically reported in a manner of a warning light, a warning sound, a voice, or the like, so as to remind a driver of the current vehicle and other related personnel to take corresponding emergency measures in time. In case of emergency, the current vehicle can be braked while alarm information is reported so as to avoid driving danger.
According to the following strategy determining method provided by the embodiment of the application, the driving environment information, the vehicle attribute information and the driving plan of the current vehicle are obtained; the driving environment information comprises lane information of a lane where the current vehicle is located and surrounding vehicle information; the surrounding vehicle information comprises the vehicle types, the vehicle speeds and the distances between the current vehicle of the front vehicle and other surrounding vehicles; and generating a following strategy of the current vehicle according to the driving plan, the vehicle attribute information and the driving environment information of the current vehicle based on a preset following rule. The method provided by the scheme combines multiple factors of the driving plan, the vehicle attribute information and the driving environment information of the current vehicle to generate the following strategy of the current vehicle, improves the reliability of the obtained following strategy, and lays a foundation for improving the driving efficiency of the vehicle. In addition, the driving safety of the current vehicle can be estimated, so that driving danger is avoided.
The embodiment of the application provides a following strategy determining device, which is used for executing the following strategy determining method provided by the embodiment.
As shown in fig. 3, a schematic structural diagram of a following strategy determination device provided in an embodiment of the present application is shown. The following strategy determination device 30 includes an acquisition module 301 and a determination module 302.
The system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the running environment information, the vehicle attribute information and the running plan of the current vehicle; the driving environment information comprises lane information of a lane where the current vehicle is located and surrounding vehicle information; the surrounding vehicle information comprises the vehicle types, the vehicle speeds and the distances between the current vehicle of the front vehicle and other surrounding vehicles; and the determining module is used for generating a following strategy of the current vehicle according to the driving plan, the vehicle attribute information and the driving environment information of the current vehicle based on a preset following rule.
Specifically, in an embodiment, the determining module is specifically configured to:
judging whether the current vehicle needs to change lanes according to the type of the previous vehicle and/or the lane information of the lane where the current vehicle is located;
when the current vehicle is determined to need lane changing, determining the speed of a target vehicle on a left lane or a right lane of the current lane and the distance between the target vehicle and the current vehicle according to the surrounding vehicle information;
and generating a corresponding following strategy according to the speed of the target vehicle, the distance between the target vehicle and the current speed of the current vehicle based on a preset lane changing rule.
Specifically, in an embodiment, the system further includes a security module, configured to:
judging whether the current lane meets the driving condition or not according to the vehicle attribute information of the current vehicle and the lane information of the lane where the current vehicle is located;
when the current lane does not meet the driving condition, generating following alarm information;
the vehicle attribute information of the current vehicle comprises the vehicle width and the vehicle height, and the lane information comprises the lane width limit and the lane height limit.
Specifically, in one embodiment, the security module is further configured to:
and when the current lane meets the driving condition, executing a step of generating a following strategy of the current vehicle according to a preset driving plan, the vehicle attribute information and the driving environment information of the current vehicle based on a preset following rule.
Specifically, in an embodiment, the security module is specifically configured to:
and when the vehicle width of the current vehicle is larger than the lane limit width or the vehicle height of the current vehicle is larger than the lane limit height, determining that the current lane does not meet the driving condition.
Specifically, in an embodiment, the security module is specifically configured to:
and when the vehicle width of the current vehicle is not larger than the lane limit width and the vehicle height of the current vehicle is not larger than the lane limit height, determining that the current lane meets the driving condition.
Specifically, in an embodiment, the obtaining module is specifically configured to:
acquiring a driving video, a radar signal and the current speed of the current vehicle in the following driving process of the current vehicle;
determining lane information of a lane where the current vehicle is located and vehicle types of surrounding vehicles according to the driving video;
and determining the speed of the surrounding vehicle and the distance between the surrounding vehicle and the current vehicle according to the radar signal and the current speed of the current vehicle.
With regard to the following policy determination device in the present embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The following strategy determining device provided by the embodiment of the application is used for executing the following strategy determining method provided by the embodiment, the implementation mode and the principle are the same, and the description is omitted.
The embodiment of the application provides electronic equipment for executing the following strategy determining method provided by the embodiment.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 40 includes: at least one processor 41 and memory 42;
the memory stores computer-executable instructions; the at least one processor executes computer-executable instructions stored by the memory, causing the at least one processor to perform the following strategy determination method provided by the above embodiments.
The electronic device provided by the embodiment of the application is used for executing the following strategy determination method provided by the embodiment, the implementation manner and the principle are the same, and the description is omitted.
The embodiment of the application provides a computer-readable storage medium, wherein a computer executing instruction is stored in the computer-readable storage medium, and when a processor executes the computer executing instruction, the following strategy determination method provided by any one of the above embodiments is implemented.
The storage medium containing the computer executable instructions in the embodiments of the present application may be used to store the computer executable instructions of the following policy determination method provided in the foregoing embodiments, and the implementation manner and principle thereof are the same and are not described again.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A following strategy determination method is characterized by comprising the following steps:
acquiring running environment information, vehicle attribute information and a running plan of a current vehicle; the driving environment information comprises lane information of a lane where the current vehicle is located and surrounding vehicle information; the surrounding vehicle information comprises the vehicle types, the vehicle speeds and the distances between the current vehicle of the front vehicle and other surrounding vehicles;
and generating a following strategy of the current vehicle according to the driving plan, the vehicle attribute information of the current vehicle and the driving environment information based on a preset following rule.
2. The method according to claim 1, wherein the generating a following strategy of the current vehicle according to a preset following plan, vehicle attribute information of the current vehicle and the driving environment information based on a preset following rule comprises:
judging whether the current vehicle needs to change lanes or not according to the type of the front vehicle and/or lane information of a lane where the current vehicle is located;
when the current vehicle is determined to need lane changing, determining the speed of a target vehicle on a left lane or a right lane of the current lane and the distance between the target vehicle and the current vehicle according to the surrounding vehicle information;
and generating a corresponding following strategy according to the speed of the target vehicle, the distance between the target vehicle and the current speed of the current vehicle based on a preset lane changing rule.
3. The method of claim 1, further comprising:
judging whether the current lane meets the driving condition or not according to the vehicle attribute information of the current vehicle and the lane information of the lane where the current vehicle is located;
when the current lane does not meet the driving condition, generating following alarm information;
the vehicle attribute information of the current vehicle comprises the vehicle width and the vehicle height, and the lane information comprises the lane width limit and the lane height limit.
4. The method of claim 3, further comprising:
and when the current lane meets the driving condition, executing the step of generating the following strategy of the current vehicle according to a preset driving plan, the vehicle attribute information of the current vehicle and the driving environment information based on the preset following rule.
5. The method according to claim 3, wherein the determining whether the current lane meets the driving condition according to the attribute information of the current vehicle and the lane information of the lane in which the current vehicle is located comprises:
and when the vehicle width of the current vehicle is larger than the lane limit width or the vehicle height of the current vehicle is larger than the lane limit height, determining that the current lane does not meet the driving condition.
6. The method of claim 5, further comprising:
and when the vehicle width of the current vehicle is not larger than the lane limit width and the vehicle height of the current vehicle is not larger than the lane limit height, determining that the current lane meets the driving condition.
7. The method according to claim 1, wherein the acquiring of the running environment information of the current vehicle includes:
acquiring a driving video, a radar signal and the current speed of the current vehicle in the following driving process of the current vehicle;
determining lane information of a lane where the current vehicle is located and vehicle types of surrounding vehicles according to the driving video;
and determining the speed of the surrounding vehicle and the distance between the surrounding vehicle and the current vehicle according to the radar signal and the current speed of the current vehicle.
8. A following policy determination device, comprising:
the acquisition module is used for acquiring the running environment information, the vehicle attribute information and the running plan of the current vehicle; the driving environment information comprises lane information of a lane where the current vehicle is located and surrounding vehicle information; the surrounding vehicle information comprises the vehicle types, the vehicle speeds and the distances between the current vehicle of the front vehicle and other surrounding vehicles;
and the determining module is used for generating a following strategy of the current vehicle according to the driving plan, the vehicle attribute information of the current vehicle and the driving environment information based on a preset following rule.
9. An electronic device, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any of claims 1-7.
10. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110065112.5A CN112721928A (en) | 2021-01-18 | 2021-01-18 | Car following strategy determination method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
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