CN109318895A

CN109318895A - Prevent the automatic Pilot method and system that malice is jumped a queue

Info

Publication number: CN109318895A
Application number: CN201811244706.7A
Authority: CN
Inventors: 徐大利
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2018-10-24
Filing date: 2018-10-24
Publication date: 2019-02-12
Also published as: WO2020082774A1

Abstract

A kind of automatic Pilot method and system preventing malice and jumping a queue, comprising: when target vehicle is in automatic driving mode, obtain the vehicle traveling information of target vehicle；Judge whether target vehicle is in default scene of maliciously jumping a queue according to vehicle traveling information；If so, control target vehicle enters the anti-control model of jumping a queue of target, the anti-control model of jumping a queue of target be to control target vehicle to travel close to the target lane side where target vehicle, is jumped a queue the mode of behavior with the malice for the vehicle that hinders maliciously to jump a queue.Implement the embodiment of the present invention, target vehicle can be controlled when target vehicle is in and presets and maliciously jump a queue scene to travel close to the target lane side where target vehicle, the jump a queue malice of vehicle of malice is hindered to jump a queue behavior with this, cause autonomous driving vehicle to can not be successfully the probability occurred by the case where traffic congestion section to reduce malice and jump a queue, and then improves the traffic efficiency of road.

Description

Prevent the automatic Pilot method and system that malice is jumped a queue

Technical field

The present invention relates to automobile technical field more particularly to a kind of automatic Pilot method and system preventing malice and jumping a queue.

Background technique

Currently, people drive commonly using autonomous driving vehicle as automatic Pilot is using more more and more universal.By The driving strategy of automation can be taken to realize automatic Pilot in autonomous driving vehicle, so that people drive province of more saving worry Power.

In practice, it has been found that existing automatic Pilot strategy is based on security consideration, may be with the feelings of other car crass Often using the driving strategy of evacuation under condition.But such automatic Pilot strategy based on security consideration is in practical applications It can be utilized by malice driver, it is understood that there may be the automobile malice of other malice drivers autonomous driving vehicle of jumping a queue causes to drive automatically Sail the case where automobile can not be successfully through traffic congestion section.

As it can be seen that how reducing malice and jumping a queue causes autonomous driving vehicle to can not be successfully through hair the case where traffic congestion section Raw probability becomes a urgent problem needed to be solved.

Summary of the invention

The embodiment of the present invention discloses a kind of automatic Pilot method and system preventing malice and jumping a queue, and can reduce malice and jump a queue Autonomous driving vehicle is caused to can not be successfully the probability occurred by the case where traffic congestion section.

First aspect of the embodiment of the present invention discloses a kind of automatic Pilot method preventing malice and jumping a queue, comprising:

When target vehicle is in automatic driving mode, the vehicle traveling information of the target vehicle is obtained；

Judge whether the target vehicle is in default scene of maliciously jumping a queue according to the vehicle traveling information；

If so, controlling the target vehicle enters the anti-control model of jumping a queue of target, the anti-control model of jumping a queue of the target It is travelled to control the target vehicle close to the target lane side where the target vehicle, to hinder vehicle of maliciously jumping a queue Malice is jumped a queue the mode of behavior.

As an alternative embodiment, the vehicle traveling information is at least in first aspect of the embodiment of the present invention Target lane locating for road conditions locating for speed, the target vehicle including the target vehicle and the target vehicle, it is described Default malice scene of jumping a queue is jumped a queue scene including at least jump a queue scene and the second default malice of the first default malice；It is described according to institute It states vehicle traveling information and judges whether the target vehicle is in default scene of maliciously jumping a queue, comprising:

Judge whether the speed of the target vehicle is lower than preset vehicle speed, and judges that road conditions locating for the target vehicle are No is default congestion road conditions；

When the speed for judging the target vehicle is lower than road conditions locating for the preset vehicle speed and/or the target vehicle When the default congestion road conditions, judge whether the corresponding target lane line in the target lane is solid line；

When judging the target lane line is solid line, judgement is located at the vehicle of the left-hand lane on the left of the target lane Whether road type and the carriageway type in the target lane are different, and judge whether the vehicle fleet size of the left-hand lane is lower than Preset quantity；

When the carriageway type for judging the left-hand lane left side different and/or described from the carriageway type in the target lane When the vehicle fleet size in side lane is lower than the preset quantity, determine that the target vehicle is in the first default scene of maliciously jumping a queue；

When the carriageway type for judging the left-hand lane left side identical and described with the carriageway type in the target lane When the vehicle fleet size in lane is at or above the preset quantity, judgement is located at the right-hand lane on the right side of the target lane Whether carriageway type and the carriageway type in the target lane are different, and judge whether the vehicle fleet size of the right-hand lane is low In the preset quantity；

When the carriageway type for judging the right-hand lane right side different and/or described from the carriageway type in the target lane When the vehicle fleet size in side lane is lower than the preset quantity, determine that the target vehicle is in the second default scene of maliciously jumping a queue.

As an alternative embodiment, anti-jump a queue of the target controls mould in first aspect of the embodiment of the present invention Formula includes at least the first anti-jump a queue control model and the second anti-control model of jumping a queue, and the control target vehicle enters target Anti- control model of jumping a queue, comprising:

When the target vehicle is in the described first default maliciously jump a queue scene and target vehicle current environment permission The target vehicle close to the target lane left-hand lane line when driving, it is anti-into described first to control the target vehicle It jumps a queue control model, so that the left-hand lane line of the target vehicle close to the target lane travels；

When the target vehicle is in the described second default maliciously jump a queue scene and target vehicle current environment permission The target vehicle close to the target lane right-hand lane line when driving, it is anti-into described second to control the target vehicle It jumps a queue control model, so that the right-hand lane line of the target vehicle close to the target lane travels.

As an alternative embodiment, in first aspect of the embodiment of the present invention, the control target vehicle Into the described first anti-control model of jumping a queue, so that the left-hand lane line of the target vehicle close to the target lane line Traveling, comprising:

The target vehicle is controlled into the described first anti-control model of jumping a queue, so that the target vehicle and the target The distance of the left-hand lane line in lane is within the scope of pre-determined distance；

The control target vehicle enters the described second anti-control model of jumping a queue, so that the target vehicle is close to institute State the right-hand lane line traveling in target lane, comprising:

The target vehicle is controlled into the described second anti-control model of jumping a queue, so that the target vehicle and the target The distance of the right-hand lane line in lane is within the scope of the pre-determined distance.

As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to obtain the target vehicle Vehicle traveling information, comprising:

It is obtained locating for the speed of the target vehicle, the target vehicle using the Context awareness system of the target vehicle Target lane locating for road conditions and the target vehicle, the positioning that the Context awareness system includes at least the target vehicle fill It sets, preset map, millimetre-wave radar, controller and camera.

Second aspect of the embodiment of the present invention discloses a kind of automated driving system preventing malice and jumping a queue, comprising:

Acquiring unit, for obtaining the vehicle driving of the target vehicle when target vehicle is in automatic driving mode Information；

Judging unit, for judging whether the target vehicle is in default malice and jumps a queue according to the vehicle traveling information Scene；

Control unit, for judging that the target vehicle is in the default malice and jumps a queue scene when the judging unit When, it controls the target vehicle and enters the anti-control model of jumping a queue of target, the target is anti-to jump a queue control model to control the mesh It marks vehicle to travel close to the target lane side where the target vehicle, to hinder the jump a queue malice of vehicle of malice to jump a queue behavior Mode.

As an alternative embodiment, the vehicle traveling information is at least in second aspect of the embodiment of the present invention Target lane locating for road conditions locating for speed, the target vehicle including the target vehicle and the target vehicle, it is described Default malice scene of jumping a queue is jumped a queue scene including at least jump a queue scene and the second default malice of the first default malice；The judgement is single Member includes:

First judgment sub-unit for judging whether the speed of the target vehicle is lower than preset vehicle speed, and judges institute State whether road conditions locating for target vehicle are default congestion road conditions；

Second judgment sub-unit, for judging the speed of the target vehicle lower than institute when first judgment sub-unit When to state road conditions locating for preset vehicle speed and/or the target vehicle be the default congestion road conditions, judge that the target lane is corresponding Target lane line whether be solid line；

Third judgment sub-unit, for when second judgment sub-unit judge the target lane line be solid line when, Whether the carriageway type and the carriageway type in the target lane of left-hand lane of the judgement on the left of the target lane are different, And judge whether the vehicle fleet size of the left-hand lane is lower than preset quantity；

First determines subelement, for when the third judgment sub-unit judge the carriageway type of the left-hand lane with When the carriageway type difference in the target lane and/or the vehicle fleet size of the left-hand lane are lower than the preset quantity, determine The target vehicle is in the first default scene of maliciously jumping a queue；

4th judgment sub-unit, for when the third judgment sub-unit judge the carriageway type of the left-hand lane with When the carriageway type in the target lane is identical and the vehicle fleet size of the left-hand lane is at or above the preset quantity, Whether the carriageway type and the carriageway type in the target lane of right-hand lane of the judgement on the right side of the target lane are different, And judge whether the vehicle fleet size of the right-hand lane is lower than the preset quantity；

Second determines subelement, for when the 4th judgment sub-unit judge the carriageway type of the right-hand lane with When the carriageway type difference in the target lane and/or the vehicle fleet size of the right-hand lane are lower than the preset quantity, determine The target vehicle is in the second default scene of maliciously jumping a queue.

As an alternative embodiment, anti-jump a queue of the target controls mould in second aspect of the embodiment of the present invention Formula includes at least the first anti-control model and second of jumping a queue and prevents that control model of jumping a queue, described control unit include:

First control subelement, for being in the first default scene and target carriage of maliciously jumping a queue when the target vehicle Current environment allow the target vehicle close to the target lane left-hand lane line when driving, control the target vehicle Into the described first anti-control model of jumping a queue, so that the left-hand lane line row of the target vehicle close to the target lane It sails；

Second control subelement, for being in the second default scene and target carriage of maliciously jumping a queue when the target vehicle Current environment allow the target vehicle close to the target lane right-hand lane line when driving, control the target vehicle Into the described second anti-control model of jumping a queue, so that the right-hand lane line row of the target vehicle close to the target lane It sails.

As an alternative embodiment, the first control subelement is used in second aspect of the embodiment of the present invention In when the target vehicle is in the first default scene and target vehicle current environment permission target carriage of maliciously jumping a queue Close to the target lane left-hand lane line when driving, control the target vehicle into the described first anti-jump a queue and control mould Formula, by make the target vehicle close to the target lane the left-hand lane line traveling in a manner of specifically:

The first control subelement is in the first default scene and target of maliciously jumping a queue with when the target vehicle Vehicle current environment allow the target vehicle close to the target lane left-hand lane line when driving, control the target carriage Enter the described first anti-control model of jumping a queue, so that the target vehicle and the left-hand lane line in the target lane Distance is within the scope of pre-determined distance；

Described second, which controls subelement, is used to be in the second default scene and mesh of maliciously jumping a queue when the target vehicle Mark vehicle current environment allow the target vehicle close to the target lane right-hand lane line when driving, control the target Vehicle enters the described second anti-control model of jumping a queue, so that the right-hand lane of the target vehicle close to the target lane The mode of line traveling specifically:

The second control subelement, for being in the second default scene and mesh of maliciously jumping a queue when the target vehicle Mark vehicle current environment allow the target vehicle close to the target lane right-hand lane line when driving, control the target Vehicle enters the described second anti-control model of jumping a queue, so that the right-hand lane line of the target vehicle and the target lane Distance be within the scope of the pre-determined distance.

As an alternative embodiment, the acquiring unit is for working as mesh in second aspect of the embodiment of the present invention When mark vehicle is in automatic driving mode, the mode of the vehicle traveling information of the target vehicle is obtained specifically:

The acquiring unit, for utilizing the environment of the target vehicle when target vehicle is in automatic driving mode Identifying system obtains target carriage locating for road conditions locating for the speed of the target vehicle, the target vehicle and the target vehicle Road, the Context awareness system include at least the positioning device of the target vehicle, default map, millimetre-wave radar, controller And camera.

The third aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, described Computer program makes computer execute some or all of any one method of first aspect step.

Fourth aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is calculating When being run on machine, so that the computer executes some or all of any one method of first aspect step.

The aspect of the embodiment of the present invention the 5th disclose a kind of using distribution platform, and the application distribution platform is for publication calculating Machine program product, wherein when the computer program product is run on computers, so that the computer executes first party Some or all of any one method in face step.

Compared with prior art, the embodiment of the present invention has the advantages that

In the embodiment of the present invention, when target vehicle is in automatic driving mode, the vehicle driving letter of target vehicle is obtained Breath；Judge whether target vehicle is in default scene of maliciously jumping a queue according to vehicle traveling information；If so, control target vehicle into Enter the anti-control model of jumping a queue of target, the anti-control model of jumping a queue of target is control target vehicle close to the target carriage where target vehicle Road side traveling, to hinder the jump a queue malice of vehicle of malice to jump a queue the mode of behavior.This process can be in target vehicle Default malice jump a queue scene when control target vehicle close to where target vehicle target lane side travel, with this hinder malice The malice of vehicle of jumping a queue is jumped a queue behavior, so that reducing malice and jumping a queue causes autonomous driving vehicle to can not be successfully through traffic congestion road The probability that the case where section occurs, and then improve the traffic efficiency of road.

Detailed description of the invention

It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached Figure.

Fig. 1 is a kind of flow diagram for preventing the automatic Pilot method that malice is jumped a queue disclosed by the embodiments of the present invention；

Fig. 2 is the flow diagram for the automatic Pilot method that another prevention malice disclosed by the embodiments of the present invention is jumped a queue；

Fig. 3 is the flow diagram for the automatic Pilot method that another prevention malice disclosed by the embodiments of the present invention is jumped a queue；

Fig. 4 is a kind of structural schematic diagram for preventing the automated driving system that malice is jumped a queue disclosed by the embodiments of the present invention；

Fig. 5 is the structural schematic diagram for the automated driving system that another prevention malice disclosed by the embodiments of the present invention is jumped a queue；

Fig. 6 is a kind of automatic Pilot application scenarios schematic diagram preventing malice and jumping a queue disclosed by the embodiments of the present invention.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, shall fall within the protection scope of the present invention.

It should be noted that term " includes " and " having " and their any changes in the embodiment of the present invention and attached drawing Shape, it is intended that cover and non-exclusive include.Such as contain the process, method of a series of steps or units, system, product or Equipment is not limited to listed step or unit, but optionally further comprising the step of not listing or unit or optional Ground further includes the other step or units intrinsic for these process, methods, product or equipment.

The embodiment of the present invention discloses a kind of automatic Pilot method and system preventing malice and jumping a queue, and can reduce malice and jump a queue Autonomous driving vehicle is caused to can not be successfully the probability occurred by the case where traffic congestion section.It carries out individually below specifically It is bright.

Embodiment one

Referring to Fig. 1, Fig. 1 is a kind of process for preventing the automatic Pilot method that malice is jumped a queue disclosed by the embodiments of the present invention Schematic diagram.As shown in Figure 1, the automatic Pilot method that prevention malice is jumped a queue may comprise steps of:

101, when target vehicle is in automatic driving mode, the automated driving system that prevention malice is jumped a queue obtains target carriage Vehicle traveling information.

In the embodiment of the present invention, vehicle traveling information include at least road conditions locating for the speed of target vehicle, target vehicle and Target lane locating for target vehicle, optionally, vehicle traveling information can also include gas pedal information, the steering angle of vehicle Spend information and brake pedal turn signal information etc.；Wherein, road conditions locating for target vehicle can use the positioning device of target vehicle It is obtained with default map, and may include the default congestion road conditions marked in default map, thus according to target vehicle institute Place's road conditions may determine that whether current goal vehicle is in the road of easy congestion；It at least wraps in target lane locating for target vehicle Include carriageway type, wherein carriageway type can be Through Lane, left turn lane, right-turn lane or u-turn lane etc., the present invention In embodiment without limitation.

102, the automated driving system that prevention malice is jumped a queue judges whether target vehicle is in pre- according to vehicle traveling information The scene if malice is jumped a queue, if so, step 103 is executed, if not, terminating this process.

In the embodiment of the present invention, default malice scene of jumping a queue is the driving scene easily maliciously jumped a queue, specifically, default dislike Meaning jumps a queue scene can be to provide the region that cannot be overtaken other vehicles in the section of traveling congestion or the section that runs at a low speed.

103, the automated driving system control target vehicle that prevention malice is jumped a queue enters the anti-control model of jumping a queue of target, target Anti- control model of jumping a queue is to control target vehicle to travel close to the target lane side where target vehicle, to hinder malice to jump a queue The malice of vehicle is jumped a queue the mode of behavior.

In the embodiment of the present invention, the anti-control model of jumping a queue of target includes the first anti-jump a queue control model and the second anti-control of jumping a queue Molding formula, the default malice for being respectively used to maliciously be jumped a queue from left side are jumped a queue scene and the default malice maliciously jumped a queue from right side It jumps a queue scene；Target lane where target vehicle includes left-hand lane line and right-hand lane line, when target vehicle is in from a left side The default malice that side is maliciously jumped a queue jump a queue scene when, control target vehicle close to left-hand lane line travel, at target vehicle When the default malice maliciously jumped a queue from right side jumps a queue scene, control target vehicle is travelled close to right-hand lane line, is subtracted with this The small space that can be jumped a queue, to reduce a possibility that maliciously being jumped a queue.

As it can be seen that the automatic Pilot method jumped a queue by implementing the described prevention malice of Fig. 1, when target vehicle is in automatic When driving mode, the vehicle traveling information of target vehicle is obtained；Judge whether target vehicle is in pre- according to vehicle traveling information The scene if malice is jumped a queue；If so, control target vehicle enters the anti-control model of jumping a queue of target, the anti-control model of jumping a queue of target is Target vehicle is controlled close to the mode of the target lane side traveling where target vehicle.This process can be at target vehicle Control target vehicle is travelled close to the target lane side where target vehicle when default malice jumps a queue scene, hinders to dislike with this The jump a queue malice of vehicle of meaning is jumped a queue behavior, so that reducing malice and jumping a queue causes autonomous driving vehicle can not be successfully to pass through traffic congestion The probability that the case where section occurs, and then improve the traffic efficiency of road.

Embodiment two

Referring to Fig. 2, Fig. 2 is the stream for the automatic Pilot method that another prevention malice disclosed by the embodiments of the present invention is jumped a queue Journey schematic diagram.As shown in Fig. 2, the automatic Pilot method that prevention malice is jumped a queue may comprise steps of:

201, when target vehicle is in automatic driving mode, the automated driving system that prevention malice is jumped a queue obtains target carriage Vehicle traveling information.

In the embodiment of the present invention, vehicle traveling information include at least road conditions locating for the speed of target vehicle, target vehicle and Target lane locating for target vehicle.

202, the automated driving system that prevention malice is jumped a queue judges whether the speed of target vehicle is lower than preset vehicle speed, and Judge whether road conditions locating for target vehicle are default congestion road conditions；When judge the speed of target vehicle lower than preset vehicle speed and/ Or road conditions locating for target vehicle are when presetting congestion road conditions, to execute step 203, when the speed for judging target vehicle is not less than in advance If road conditions locating for speed and target vehicle are not default congestion road conditions, terminate this process.

In the embodiment of the present invention, preset vehicle speed can be the low speed speed pre-set, as preset vehicle speed can be 30km/h, in practical applications, preset vehicle speed can be changed freely, in the embodiment of the present invention without limitation.

As an alternative embodiment, the automated driving system that prevention malice is jumped a queue judges road conditions locating for target vehicle It whether is that default congestion road conditions may include:

Prevent whether the automated driving system that malice is jumped a queue judges the position of road conditions locating for target vehicle in the default map Match with the default congestion road conditions position of default map label；

If so, the automated driving system that prevention malice is jumped a queue determines that road conditions locating for target vehicle are default congestion road conditions；

If not, it is default congestion road that the automated driving system that prevention malice is jumped a queue, which determines road conditions locating for target vehicle not, Condition.

It, can be according to the default congestion road conditions position that default map marks in advance by implementing this optional embodiment Judge whether road conditions locating for target vehicle are congestion road conditions with road conditions position locating for target vehicle, this process can be determined quickly Common jam road simultaneously takes the subsequent judgement for preventing maliciously to jump a queue accordingly and evades equal measures, improves the intelligence of driving Change degree.

203, the automated driving system that prevention malice is jumped a queue judges whether the corresponding target lane line in target lane is solid line, If so, step 204 is executed, if not, terminating this process.

In the embodiment of the present invention, when the corresponding target lane line in target lane is solid line, illustrate that target lane does not allow Other vehicles are jumped a queue, and the probability jumped a queue maliciously to jump a queue occurred at this time is larger, execute step 204.

204, the automated driving system judgement that prevention malice is jumped a queue is located at the lane class of the left-hand lane on the left of target lane Whether type is different from the carriageway type in target lane, and judges whether the vehicle fleet size of left-hand lane is lower than preset quantity；When Judge that the carriageway type of left-hand lane is different from the carriageway type in target lane and/or the vehicle fleet size of left-hand lane is lower than pre- If when quantity, step 205 and step 208 are executed, when the lane class for the carriageway type and target lane for judging left-hand lane When type is identical and the vehicle fleet size of left-hand lane is at or above preset quantity, step 206 is executed.

As an alternative embodiment, judging the vehicle of left-hand lane in the automated driving system that prevention malice is jumped a queue Following steps can also be performed lower than after preset quantity in quantity:

Prevent the automated driving system that malice is jumped a queue and judges whether the vehicle fleet size in target lane is higher than default congestion quantity； If so, step 205 and step 208 are executed, if not, executing step 206.

By implementing this optional embodiment, when the vehicle fleet size in target lane is higher than default congestion quantity, say Improving eyesight mark lane congestion and left-hand lane vehicle is less meets and is easy to happen the scene that malice is jumped a queue, by further judging mesh The vehicle fleet size in mark lane prevents control model of jumping a queue to determine accordingly, more accurate.

In the embodiment of the present invention, when the carriageway type for the left-hand lane being located on the left of target lane and the lane in target lane When the vehicle fleet size of type difference and/or left-hand lane is lower than preset quantity, it is easier to occur to carry out from left side maliciously to add at this time The scene of plug.For example, the carriageway type that the carriageway type in target lane where target vehicle is Through Lane and left-hand lane is When left turn lane, a certain vehicle of left-hand lane is easy to happen due to the road Zhan Cuo so needing lane change, and malice occurs at this time and jumps a queue The case where.Alternatively, the quantity of left-hand lane is lower than preset quantity under the premise of road conditions locating for target vehicle are default congestion road conditions When, it is easy to happen the case where a certain vehicle of left-hand lane needs to import target lanes.

205, the automated driving system that prevention malice is jumped a queue determines that target vehicle is in the first default scene of maliciously jumping a queue.

In the embodiment of the present invention, the first default default malice of the scene for maliciously being jumped a queue from left side of maliciously jumping a queue is jumped a queue Scene.

206, the automated driving system judgement that prevention malice is jumped a queue is located at the lane class of the right-hand lane on the right side of target lane Whether type is different from the carriageway type in target lane, and judges whether the vehicle fleet size of right-hand lane is lower than preset quantity；When Judge that the carriageway type of right-hand lane is different from the carriageway type in target lane and/or the vehicle fleet size of right-hand lane is lower than pre- If when quantity, step 207 and step 209 are executed, when the lane class for the carriageway type and target lane for judging right-hand lane When type is identical and the vehicle fleet size of right-hand lane is not less than preset quantity, terminate this process.

As an alternative embodiment, judging the vehicle of right-hand lane in the automated driving system that prevention malice is jumped a queue Following steps can also be performed lower than after preset quantity in quantity:

Prevent the automated driving system that malice is jumped a queue and judges whether the vehicle fleet size in target lane is higher than default congestion quantity； If so, step 207 and step 209 are executed, if not, terminating this process.

By implementing this optional embodiment, when the vehicle fleet size in target lane is higher than default congestion quantity, say Improving eyesight mark lane congestion and right-hand lane vehicle is less meets and is easy to happen the scene that malice is jumped a queue, by further judging mesh The vehicle fleet size in mark lane prevents control model of jumping a queue to determine accordingly, more accurate.

In the embodiment of the present invention, if the carriageway type of left-hand lane is different from the carriageway type in target lane and/or left side The vehicle fleet size in lane is different and/or right from the carriageway type in target lane lower than the carriageway type of preset quantity and right-hand lane The vehicle fleet size in side lane is lower than preset quantity, illustrates that the target vehicle in target lane had both been possible to the vehicle by left-hand lane It maliciously jumps a queue and is possible to be jumped a queue by the vehicle malice of right-hand lane, default enters the first default scene of maliciously jumping a queue at this time, In practical applications, such situation may be set to be default into the second default scene of maliciously jumping a queue, and that is to say and first carries out step Rapid 206 execute step 204 again, in the embodiment of the present invention without limitation.

In the embodiment of the present invention, when the carriageway type for the right-hand lane being located on the right side of target lane and the lane in target lane When the vehicle fleet size of type difference and/or right-hand lane is lower than preset quantity, it is easier to occur to carry out from right side maliciously to add at this time The scene of plug.For example, the carriageway type that the carriageway type in target lane where target vehicle is Through Lane and right-hand lane is When right-turn lane, a certain vehicle of right-hand lane is easy to happen due to the road Zhan Cuo so needing lane change, and malice occurs at this time and jumps a queue The case where.Alternatively, the quantity of right-hand lane is lower than preset quantity under the premise of road conditions locating for target vehicle are default congestion road conditions When, it is easy to happen the case where a certain vehicle of right-hand lane needs to import target lanes.

207, the automated driving system that prevention malice is jumped a queue determines that target vehicle is in the second default scene of maliciously jumping a queue.

In the embodiment of the present invention, the second default default malice of the scene for maliciously being jumped a queue from right side of maliciously jumping a queue is jumped a queue Scene.

208, when target vehicle is in the first default scene and target vehicle current environment permission target vehicle of maliciously jumping a queue When driving, the automated driving system control target vehicle that prevention malice is jumped a queue enters first to the left-hand lane line in close target lane Anti- control model of jumping a queue, so that left-hand lane line of the target vehicle close to target lane travels.

In the embodiment of the present invention, when target vehicle is in the scene for being easy to be jumped a queue by the vehicle malice of left-hand lane, such as Fruit target vehicle current environment allows target vehicle to travel close to the left-hand lane line in target lane, and control target vehicle enters the One anti-control model of jumping a queue.Wherein, if target vehicle travels collisionless risk close to left-hand lane line, illustrate target vehicle Current environment allows target vehicle to travel close to left-hand lane line.

209, when target vehicle is in the second default scene and target vehicle current environment permission target vehicle of maliciously jumping a queue When driving, the automated driving system control target vehicle that prevention malice is jumped a queue enters second to the right-hand lane line in close target lane Anti- control model of jumping a queue, so that right-hand lane line of the target vehicle close to target lane travels.

In the embodiment of the present invention, the anti-control model of jumping a queue of target prevents adding including at least the first anti-control model and second of jumping a queue Control model is filled in, the anti-control model of jumping a queue of target is control target vehicle close to the target lane side row where target vehicle It sails, to hinder the jump a queue malice of vehicle of malice to jump a queue the mode of behavior.

In the embodiment of the present invention, when target vehicle is in the scene for being easy to be jumped a queue by the vehicle malice of right-hand lane, such as Fruit target vehicle current environment allows target vehicle to travel close to the right-hand lane line in target lane, and control target vehicle enters the Two anti-control models of jumping a queue.Wherein, if target vehicle travels collisionless risk close to right-hand lane line, illustrate target vehicle Current environment allows target vehicle to travel close to right-hand lane line.

As it can be seen that the automatic Pilot method jumped a queue by implementing the described prevention malice of Fig. 2, when target vehicle is in automatic When driving mode, the vehicle traveling information of target vehicle is obtained；Judge whether target vehicle is in pre- according to vehicle traveling information The scene if malice is jumped a queue；If so, control target vehicle enters the anti-control model of jumping a queue of target, the anti-control model of jumping a queue of target is Target vehicle is controlled close to the mode of the target lane side traveling where target vehicle.This process can be at target vehicle Control target vehicle is travelled close to the target lane side where target vehicle when default malice jumps a queue scene, hinders to dislike with this The jump a queue malice of vehicle of meaning is jumped a queue behavior, so that reducing malice and jumping a queue causes autonomous driving vehicle can not be successfully to pass through traffic congestion The probability that the case where section occurs, and then improve the traffic efficiency of road.

In addition, the automatic Pilot method jumped a queue by implementing the described prevention malice of Fig. 2, when target vehicle speed compared with When road conditions locating for low or target vehicle are default congestion road conditions, further judge whether target lane line is solid line, if so, When the carriageway type of left-hand lane vehicle fleet size different and/or left-hand lane from the carriageway type in target lane is lower, recognize The risk jumped a queue for target vehicle by left side vehicle malice is larger, left-hand lane line of the control target vehicle close to target lane Traveling, when the carriageway type of right-hand lane vehicle fleet size different and/or right-hand lane from the carriageway type in target lane is lower When, it is believed that target vehicle is larger by the risk that vehicle malice in right side is jumped a queue, right side of the control target vehicle close to target lane Lane line traveling.This process can according to carriageway type and the vehicle fleet size in lane it is comprehensive determine by maliciously jump a queue risk compared with It is improved to take different driving strategy (close to left-hand lane line or close to right-hand lane line) to drive in big orientation Prevent the flexibility that malice is jumped a queue.

Embodiment three

Referring to Fig. 3, Fig. 3 is the stream for the automatic Pilot method that another prevention malice disclosed by the embodiments of the present invention is jumped a queue Journey schematic diagram.As shown in figure 3, the automatic Pilot method that prevention malice is jumped a queue may comprise steps of:

301, when target vehicle is in automatic driving mode, the automated driving system that prevention malice is jumped a queue utilizes target carriage Context awareness system obtain target lane locating for road conditions locating for the speed of target vehicle, target vehicle and target vehicle, Context awareness system includes at least positioning device, default map, millimetre-wave radar, controller and the camera of target vehicle.

As an alternative embodiment, the automated driving system that prevention malice is jumped a queue is known using the environment of target vehicle Other system obtains target lane locating for road conditions locating for the speed of target vehicle, target vehicle and target vehicle

Prevent the automated driving system that malice is jumped a queue and obtains target carriage using the millimetre-wave radar and controller of target vehicle Vehicle speed information, and using target vehicle positioning device and default map obtain target vehicle locating for road conditions, Yi Jili Target lane locating for target vehicle is obtained with camera.

By implementing this optional embodiment, acquisition vehicle traveling information is more accurate, also, Context awareness system Be the device that current vehicle has, with this come obtain that vehicle traveling information auxiliary prevention malice jumps a queue can be original hard Driving function is enriched on the basis of part facility.

302, the automated driving system that prevention malice is jumped a queue judges whether the speed of target vehicle is lower than preset vehicle speed, and Judge whether road conditions locating for target vehicle are default congestion road conditions；When judge the speed of target vehicle lower than preset vehicle speed and/ Or road conditions locating for target vehicle are when presetting congestion road conditions, to execute step 303, when the speed for judging target vehicle is not less than in advance If road conditions locating for speed and target vehicle are not default congestion road conditions, terminate this process.

303, the automated driving system that prevention malice is jumped a queue judges whether the corresponding target lane line in target lane is solid line, If so, step 304 is executed, if not, terminating this process.

304, the automated driving system judgement that prevention malice is jumped a queue is located at the lane class of the left-hand lane on the left of target lane Whether type is different from the carriageway type in target lane, and judges whether the vehicle fleet size of left-hand lane is lower than preset quantity；When Judge that the carriageway type of left-hand lane is different from the carriageway type in target lane and/or the vehicle fleet size of left-hand lane is lower than pre- If when quantity, step 305 and step 308 are executed, when the lane class for the carriageway type and target lane for judging left-hand lane When type is identical and the vehicle fleet size of left-hand lane is at or above preset quantity, step 306 is executed.

305, the automated driving system that prevention malice is jumped a queue determines that target vehicle is in the first default scene of maliciously jumping a queue.

306, the automated driving system judgement that prevention malice is jumped a queue is located at the lane class of the right-hand lane on the right side of target lane Whether type is different from the carriageway type in target lane, and judges whether the vehicle fleet size of right-hand lane is lower than preset quantity；When Judge that the carriageway type of right-hand lane is different from the carriageway type in target lane and/or the vehicle fleet size of right-hand lane is lower than pre- If when quantity, step 307 and step 309 are executed, when the lane class for the carriageway type and target lane for judging right-hand lane When type is identical and the vehicle fleet size of right-hand lane is not less than preset quantity, terminate this process.

307, the automated driving system that prevention malice is jumped a queue determines that target vehicle is in the second default scene of maliciously jumping a queue.

308, when target vehicle is in the first default scene and target vehicle current environment permission target vehicle of maliciously jumping a queue When driving, the automated driving system control target vehicle that prevention malice is jumped a queue enters first to the left-hand lane line in close target lane Anti- control model of jumping a queue, so that target vehicle is at a distance from the left-hand lane line in target lane within the scope of pre-determined distance.

309, when target vehicle is in the second default scene and target vehicle current environment permission target vehicle of maliciously jumping a queue When driving, the automated driving system control target vehicle that prevention malice is jumped a queue enters second to the right-hand lane line in close target lane Anti- control model of jumping a queue, so that target vehicle is at a distance from the right-hand lane line in target lane within the scope of pre-determined distance.

For example, target vehicle can be at a distance from the left-hand lane line in target lane under the first anti-control model of jumping a queue In 20cm or so, target vehicle can also be located at a distance from the right-hand lane line in target lane under the second anti-control model of jumping a queue In 20cm or so.In practical applications, pre-determined distance range can freely change setting, in the embodiment of the present invention without limitation.

As it can be seen that the automatic Pilot method jumped a queue by the described prevention malice of implementing Fig. 3, can be in target vehicle Default malice jump a queue scene when control target vehicle close to where target vehicle target lane side travel, with this hinder malice The malice of vehicle of jumping a queue is jumped a queue behavior, so that reducing malice and jumping a queue causes autonomous driving vehicle to can not be successfully through traffic congestion road The probability that the case where section occurs, and then improve the traffic efficiency of road.

In addition, the automatic Pilot method jumped a queue by the described prevention malice of implementing Fig. 3, can according to carriageway type with The vehicle fleet size in lane is comprehensive to be determined by the biggish orientation of risk of maliciously jumping a queue, to take different driving strategies (close Left-hand lane line or close right-hand lane line) to drive, it improves and prevents the flexibility that malice is jumped a queue.

In addition, the automatic Pilot method jumped a queue by the described prevention malice of implementing Fig. 3, can use Context awareness system System obtains target lane locating for road conditions locating for the speed of target vehicle, target vehicle and target vehicle, in summary vehicle row Information is sailed to judge whether target vehicle is in default malice and jump a queue scene, judge it is more accurate, to play better prevention The effect that malice is jumped a queue.

Example IV

Referring to Fig. 4, Fig. 4 is a kind of structure for preventing the automated driving system that malice is jumped a queue disclosed by the embodiments of the present invention Schematic diagram.As shown in figure 4, the automated driving system 400 that prevention malice is jumped a queue may include:

Acquiring unit 401, for when target vehicle is in automatic driving mode, obtaining the vehicle driving letter of target vehicle Breath.

As an alternative embodiment, the vehicle traveling information that acquiring unit 401 obtains target vehicle may include:

Acquiring unit 401 is obtained locating for the speed of target vehicle, target vehicle using the Context awareness system of target vehicle Target lane locating for road conditions and target vehicle, Context awareness system include at least the positioning device of target vehicle, default map, Millimetre-wave radar, controller and camera.

As another optional embodiment, acquiring unit 401 obtains mesh using the Context awareness system of target vehicle Marking target lane locating for road conditions locating for the speed of vehicle, target vehicle and target vehicle may include:

Acquiring unit 401 obtains the vehicle speed information of target vehicle using the millimetre-wave radar and controller of target vehicle, and Road conditions locating for target vehicle are obtained using the positioning device of target vehicle and default map, and obtain target using camera Target lane locating for vehicle.

Judging unit 402, the vehicle traveling information for being obtained according to acquiring unit 401 judge whether target vehicle is in Default malice is jumped a queue scene.

In the embodiment of the present invention, default malice scene of jumping a queue is jumped a queue scene and second default including at least the first default malice Malice is jumped a queue scene.

Control unit 403, for controlling when judging unit 402 judges that target vehicle jumps a queue scene in default malice Target vehicle processed enters the anti-control model of jumping a queue of target, and the anti-control model of jumping a queue of target is control target vehicle close to target vehicle The target lane side at place travels, to hinder the jump a queue malice of vehicle of malice to jump a queue the mode of behavior.

In the embodiment of the present invention, the anti-control model of jumping a queue of target prevents adding including at least the first anti-control model and second of jumping a queue Fill in control model.

As it can be seen that the automated driving system jumped a queue by implementing the described prevention malice of Fig. 4, can be in target vehicle Default malice jump a queue scene when control target vehicle close to where target vehicle target lane side travel, with this hinder malice The malice of vehicle of jumping a queue is jumped a queue behavior, so that reducing malice and jumping a queue causes autonomous driving vehicle to can not be successfully through traffic congestion road The probability that the case where section occurs, and then improve the traffic efficiency of road.

Embodiment five

Referring to Fig. 5, Fig. 5 is the automated driving system structure that another prevention malice disclosed by the embodiments of the present invention is jumped a queue Schematic diagram.Wherein, the automated driving system 400 jumped a queue of prevention malice shown in fig. 5 is that prevention as shown in Figure 4 is maliciously jumped a queue The optimization of automated driving system 400 obtains, compared with the automated driving system 400 that prevention malice shown in Fig. 4 is jumped a queue, in Fig. 5 Shown in the automated driving system 400 jumped a queue of prevention malice, judging unit 402 includes:

First judgment sub-unit 4021 for judging whether the speed of target vehicle is lower than preset vehicle speed, and judges mesh Whether road conditions locating for mark vehicle are default congestion road conditions.

As an alternative embodiment, the first judgment sub-unit 4021 judges whether road conditions locating for target vehicle are pre- If congestion road conditions may include:

Whether with default first judgment sub-unit 4021 judges the position of road conditions locating for target vehicle in the default map The default congestion road conditions position of icon note matches；

If so, the first judgment sub-unit 4021 determines that road conditions locating for target vehicle are default congestion road conditions；

If not, it is default congestion road conditions that the first judgment sub-unit 4021, which determines road conditions locating for target vehicle not,.

Second judgment sub-unit 4022, for judging the speed of target vehicle lower than pre- when the first judgment sub-unit 4021 If road conditions locating for speed and/or target vehicle are default congestion road conditions, whether the corresponding target lane line in target lane is judged For solid line.

Third judgment sub-unit 4023, for when the second judgment sub-unit 4022 judge target lane line be solid line when, Whether the carriageway type that judgement is located at the left-hand lane on the left of target lane is different from the carriageway type in target lane, and judgement Whether the vehicle fleet size of left-hand lane is lower than preset quantity.

First determines subelement 4024, for when third judgment sub-unit 4023 judge the carriageway type of left-hand lane with When the carriageway type difference in target lane and/or the vehicle fleet size of left-hand lane are lower than preset quantity, determine that target vehicle is in First default scene of maliciously jumping a queue.

4th judgment sub-unit 4025, for when third judgment sub-unit 4023 judge the carriageway type of left-hand lane with When the carriageway type in target lane is identical and the vehicle fleet size of left-hand lane is at or above preset quantity, judgement is located at target Whether the carriageway type of the right-hand lane on the right side of lane is different from the carriageway type in target lane, and judges the vehicle of right-hand lane Whether quantity is lower than preset quantity.

Second determines subelement 4026, for when the 4th judgment sub-unit 4025 judge the carriageway type of right-hand lane with When the carriageway type difference in target lane and/or the vehicle fleet size of right-hand lane are lower than preset quantity, determine that target vehicle is in Second default scene of maliciously jumping a queue.

As an alternative embodiment, judging that the vehicle fleet size of left-hand lane is low in third judgment sub-unit 4023 After preset quantity, third judgment sub-unit 4023 be can be also used for:

Judge whether the vehicle fleet size in target lane is higher than default congestion quantity；If so, triggering first determines subelement 4024, which execute the above-mentioned vehicle that sets the goal really, is in the first default scene of maliciously jumping a queue, if not, the 4th judgment sub-unit of triggering 4025, which execute the carriageway type of right-hand lane and the carriageway type in target lane of the above-mentioned judgement on the right side of target lane, is No difference, and judge whether the vehicle fleet size of right-hand lane is lower than preset quantity.

As another optional embodiment, the vehicle fleet size of right-hand lane is judged in the 4th judgment sub-unit 4025 After preset quantity, the 4th judgment sub-unit 4025 be can be also used for:

Judge whether the vehicle fleet size in target lane is higher than default congestion quantity；If so, triggering second determines subelement 4026, which execute the above-mentioned vehicle that sets the goal really, is in the second default scene of maliciously jumping a queue.

Optionally, control unit 403 may include:

First control subelement 4031, for the first default malice to jump a queue scene and target vehicle is worked as when target vehicle is in Preceding environment allow target vehicle close to target lane left-hand lane line when driving, control target vehicle enters the first anti-control of jumping a queue Molding formula, so that left-hand lane line of the target vehicle close to target lane travels.

As an alternative embodiment, when target vehicle is in, the first default malice jumps a queue scene and target vehicle is worked as Preceding environment allow target vehicle close to target lane left-hand lane line when driving, the first control subelement 4031 controls target carriage Enter the first anti-control model of jumping a queue, by make target vehicle close to the left-hand lane line traveling in target lane in a manner of it is specific Are as follows:

First control subelement 4031 controls target vehicle and enters the first anti-control model of jumping a queue, so that target vehicle and mesh The distance for marking the left-hand lane line in lane is within the scope of pre-determined distance.

Second control subelement 4032, for the second default malice to jump a queue scene and target vehicle is worked as when target vehicle is in Preceding environment allow target vehicle close to target lane right-hand lane line when driving, control target vehicle enters the second anti-control of jumping a queue Molding formula, so that right-hand lane line of the target vehicle close to target lane travels.

As an alternative embodiment, the second control subelement 4032, which controls target vehicle, enters the second anti-control of jumping a queue Molding formula, so that right-hand lane line traveling of the target vehicle close to target lane may include:

Second control subelement 4032 controls target vehicle and enters the second anti-control model of jumping a queue, so that target vehicle and mesh The distance for marking the right-hand lane line in lane is within the scope of pre-determined distance.

Referring to Figure 6 together, Fig. 6 is a kind of automatic Pilot application scenarios signal for preventing malice and jumping a queue disclosed by the invention Figure.As shown in fig. 6, A is the target vehicle positioned at left-hand lane, when its normally travel, positioned at the middle part of left-hand lane, such as scheme The vehicle A, C in 6 left sides lower section are that there is a possibility that the maliciously vehicle jumped a queue positioned at middle lane, in order to avoid vehicle C is from vehicle A Right side carry out malice and jump a queue, vehicle A enters the second anti-control model of jumping a queue, close to the right travel of left-hand lane, such as the left side Fig. 6 The vehicle A of upper side laterally reduces the space that can jump a queue with this, to reduce the probability maliciously jumped a queue.As shown in fig. 6, B is Positioned at the target vehicle of right-hand lane, when its normally travel, positioned at the middle part of right-hand lane, such as the vehicle of Fig. 6 lower right-hand side B, C are the vehicles that there is a possibility that malice positioned at middle lane and jump a queue, in order to avoid vehicle C carries out malice from the left side of vehicle B It jumping a queue, vehicle B enters the first anti-control model of jumping a queue, close to the left driving of right-hand lane, the vehicle A of top on the right side of Fig. 6, Laterally reduce the space that can jump a queue with this, to reduce the probability maliciously jumped a queue.

As it can be seen that the automated driving system jumped a queue by implementing the described prevention malice of Fig. 5, can be in target vehicle Default malice jump a queue scene when control target vehicle close to where target vehicle target lane side travel, with this hinder malice The malice of vehicle of jumping a queue is jumped a queue behavior, so that reducing malice and jumping a queue causes autonomous driving vehicle to can not be successfully through traffic congestion road The probability that the case where section occurs, and then improve the traffic efficiency of road.

In addition, the automated driving system jumped a queue by implementing the described prevention malice of Fig. 5, can according to carriageway type with The vehicle fleet size in lane is comprehensive to be determined by the biggish orientation of risk of maliciously jumping a queue, to take different driving strategies (close Left-hand lane line or close right-hand lane line) to drive, it improves and prevents the flexibility that malice is jumped a queue.

In addition, the automated driving system jumped a queue by implementing the described prevention malice of Fig. 5, can use Context awareness system System obtains target lane locating for road conditions locating for the speed of target vehicle, target vehicle and target vehicle, in summary vehicle row Information is sailed to judge whether target vehicle is in default malice and jump a queue scene, judge it is more accurate, to play better prevention The effect that malice is jumped a queue.

The embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein the computer Program makes computer execute FIG. 1 to FIG. 3, and any one prevents the automatic Pilot method that malice is jumped a queue.

A kind of computer program product is also disclosed in the embodiment of the present invention, wherein when computer program product on computers When operation, so that computer executes some or all of the method in such as above each method embodiment step.

The embodiment of the present invention is also disclosed a kind of using distribution platform, wherein using distribution platform for issuing computer journey Sequence product, wherein when computer program product is run on computers, so that computer executes such as the above each method embodiment In some or all of method step.

In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention Implementation process constitutes any restriction.

In embodiment provided by the present invention, it should be appreciated that " B corresponding with A " indicates that B is associated with A, can be with according to A Determine B.It is also to be understood that determine that B is not meant to determine B only according to A according to A, it can also be according to A and/or other information Determine B.

In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit Both it can take the form of hardware realization, can also realize in the form of software functional units.

If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product, It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products It embodies, which is stored in a memory, including several requests are with so that a computer is set Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes Some or all of each embodiment above method of the invention step.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One- Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can For carrying or any other computer-readable medium of storing data.

A kind of automatic Pilot method and system jumped a queue of malice of preventing disclosed by the embodiments of the present invention have been carried out in detail above Thin to introduce, used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation Thought of the invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not It is interpreted as limitation of the present invention.

Claims

1. a kind of automatic Pilot method preventing malice and jumping a queue characterized by comprising

If so, controlling the target vehicle enters the anti-control model of jumping a queue of target, the anti-control model of jumping a queue of the target is control It makes the target vehicle to travel close to the target lane side where the target vehicle, the malice for vehicle of maliciously jumping a queue with obstruction It jumps a queue the mode of behavior.

2. the method according to claim 1, wherein the vehicle traveling information includes at least the target vehicle Speed, target lane locating for road conditions and the target vehicle locating for the target vehicle, the default malice jumps a queue scene Including at least the first default scene and the second default scene of maliciously jumping a queue of maliciously jumping a queue；It is described to be sentenced according to the vehicle traveling information Whether the target vehicle that breaks is in default scene of maliciously jumping a queue, comprising:

Judge whether the speed of the target vehicle is lower than preset vehicle speed, and judge road conditions locating for the target vehicle whether be Default congestion road conditions；

It is described when the speed for judging the target vehicle is lower than road conditions locating for the preset vehicle speed and/or the target vehicle When default congestion road conditions, judge whether the corresponding target lane line in the target lane is solid line；

When judging the target lane line is solid line, judgement is located at the lane class of the left-hand lane on the left of the target lane Whether type and the carriageway type in the target lane are different, and to judge whether the vehicle fleet size of the left-hand lane is lower than default Quantity；

When the carriageway type for judging the left-hand lane left side vehicle different and/or described from the carriageway type in the target lane When the vehicle fleet size in road is lower than the preset quantity, determine that the target vehicle is in the first default scene of maliciously jumping a queue；

When the carriageway type for judging the left-hand lane left-hand lane identical and described with the carriageway type in the target lane Vehicle fleet size be at or above the preset quantity when, judgement be located at the target lane on the right side of right-hand lane lane Whether type and the carriageway type in the target lane are different, and judge whether the vehicle fleet size of the right-hand lane is lower than institute State preset quantity；

When the carriageway type for judging the right-hand lane right side vehicle different and/or described from the carriageway type in the target lane When the vehicle fleet size in road is lower than the preset quantity, determine that the target vehicle is in the second default scene of maliciously jumping a queue.

3. according to the method described in claim 2, it is characterized in that, the anti-control model of jumping a queue of the target is anti-including at least first Control model of jumping a queue and the second anti-control model of jumping a queue, the control target vehicle enter the anti-control model of jumping a queue of target, Include:

It jumps a queue described in scene and target vehicle current environment permission when the target vehicle is in the described first default malice Target vehicle close to the target lane left-hand lane line when driving, control the target vehicle and anti-jump a queue into described first Control model, so that the left-hand lane line of the target vehicle close to the target lane travels；

It jumps a queue described in scene and target vehicle current environment permission when the target vehicle is in the described second default malice Target vehicle close to the target lane right-hand lane line when driving, control the target vehicle and anti-jump a queue into described second Control model, so that the right-hand lane line of the target vehicle close to the target lane travels.

4. according to the method described in claim 3, it is characterized in that, the control target vehicle is prevented adding into described first Control model is filled in, so that the target vehicle is travelled close to the left-hand lane line of the target lane line, comprising:

The target vehicle is controlled into the described first anti-control model of jumping a queue, so that the target vehicle and the target lane The distance of the left-hand lane line be within the scope of pre-determined distance；

The control target vehicle enters the described second anti-control model of jumping a queue, so that the target vehicle is close to the mesh Mark the right-hand lane line traveling in lane, comprising:

The target vehicle is controlled into the described second anti-control model of jumping a queue, so that the target vehicle and the target lane The distance of the right-hand lane line be within the scope of the pre-determined distance.

5. according to the described in any item methods of claim 2 to 4, which is characterized in that the vehicle for obtaining the target vehicle Driving information, comprising:

Road conditions locating for the speed of the target vehicle, the target vehicle are obtained using the Context awareness system of the target vehicle With target lane locating for the target vehicle, the Context awareness system include at least the target vehicle positioning device, Default map, millimetre-wave radar, controller and camera.

6. a kind of automated driving system preventing malice and jumping a queue characterized by comprising

Acquiring unit, for obtaining the vehicle traveling information of the target vehicle when target vehicle is in automatic driving mode；

Judging unit, for judging whether the target vehicle is in default field of maliciously jumping a queue according to the vehicle traveling information Scape；

Control unit, for when the judging unit judge the target vehicle be in the default malice jump a queue scene when, It controls the target vehicle and enters the anti-control model of jumping a queue of target, the target is anti-to jump a queue control model to control the target carriage Target lane side traveling where the target vehicle, to hinder the jump a queue malice of vehicle of malice to jump a queue the mould of behavior Formula.

7. the automated driving system that prevention malice according to claim 6 is jumped a queue, which is characterized in that the vehicle driving letter Breath includes at least target carriage locating for road conditions locating for the speed of the target vehicle, the target vehicle and the target vehicle Road, default malice scene of jumping a queue are jumped a queue scene including at least jump a queue scene and the second default malice of the first default malice；Institute Stating judging unit includes:

First judgment sub-unit for judging whether the speed of the target vehicle is lower than preset vehicle speed, and judges the mesh Whether road conditions locating for mark vehicle are default congestion road conditions；

Second judgment sub-unit, for judging the speed of the target vehicle lower than described pre- when first judgment sub-unit If road conditions locating for speed and/or the target vehicle are the default congestion road conditions, the corresponding mesh in the target lane is judged Mark whether lane line is solid line；

Third judgment sub-unit, for judging when second judgment sub-unit judges that the target lane line is solid line Whether the carriageway type of the left-hand lane on the left of the target lane and the carriageway type in the target lane are different, and Judge whether the vehicle fleet size of the left-hand lane is lower than preset quantity；

First determines subelement, for when the third judgment sub-unit judge the carriageway type of the left-hand lane with it is described When the carriageway type difference in target lane and/or the vehicle fleet size of the left-hand lane are lower than the preset quantity, described in determination Target vehicle is in the first default scene of maliciously jumping a queue；

4th judgment sub-unit, for when the third judgment sub-unit judge the carriageway type of the left-hand lane with it is described When the carriageway type in target lane is identical and the vehicle fleet size of the left-hand lane is at or above the preset quantity, judgement Whether the carriageway type of the right-hand lane on the right side of the target lane and the carriageway type in the target lane are different, and Judge whether the vehicle fleet size of the right-hand lane is lower than the preset quantity；

Second determines subelement, for when the 4th judgment sub-unit judge the carriageway type of the right-hand lane with it is described When the carriageway type difference in target lane and/or the vehicle fleet size of the right-hand lane are lower than the preset quantity, described in determination Target vehicle is in the second default scene of maliciously jumping a queue.

8. the automated driving system that prevention malice according to claim 7 is jumped a queue, which is characterized in that the target is anti-to jump a queue Control model includes at least the first anti-control model and second of jumping a queue and prevents that control model of jumping a queue, described control unit include:

First control subelement, for the first default malice to jump a queue scene and the target vehicle is worked as when the target vehicle is in Preceding environment allow the target vehicle close to the target lane left-hand lane line when driving, control the target vehicle and enter Described first anti-control model of jumping a queue, so that the left-hand lane line of the target vehicle close to the target lane travels；

Second control subelement, for the second default malice to jump a queue scene and the target vehicle is worked as when the target vehicle is in Preceding environment allow the target vehicle close to the target lane right-hand lane line when driving, control the target vehicle and enter Described second anti-control model of jumping a queue, so that the right-hand lane line of the target vehicle close to the target lane travels.

9. the automated driving system that prevention malice according to claim 8 is jumped a queue, which is characterized in that the first control Unit when the target vehicle is in the first default malice for jumping a queue described in scene and target vehicle current environment permission Target vehicle close to the target lane left-hand lane line when driving, control the target vehicle and anti-jump a queue into described first Control model, by make the target vehicle close to the target lane the left-hand lane line traveling in a manner of specifically:

The first control subelement, for being in the first default scene and target carriage of maliciously jumping a queue when the target vehicle Current environment allow the target vehicle close to the target lane left-hand lane line when driving, control the target vehicle Into the described first anti-control model of jumping a queue so that the target vehicle and the left-hand lane line in the target lane away from From within the scope of pre-determined distance；

Described second, which controls subelement, is used to be in the second default scene and target carriage of maliciously jumping a queue when the target vehicle Current environment allow the target vehicle close to the target lane right-hand lane line when driving, control the target vehicle Into the described second anti-control model of jumping a queue, so that the right-hand lane line row of the target vehicle close to the target lane The mode sailed specifically:

The second control subelement, for being in the second default scene and target carriage of maliciously jumping a queue when the target vehicle Current environment allow the target vehicle close to the target lane right-hand lane line when driving, control the target vehicle Into the described second anti-control model of jumping a queue so that the target vehicle and the right-hand lane line in the target lane away from From within the scope of the pre-determined distance.

10. the automated driving system that prevention malice according to any one of claims 7 to 9 is jumped a queue, which is characterized in that described Acquiring unit is used for when target vehicle is in automatic driving mode, obtains the mode of the vehicle traveling information of the target vehicle Specifically:

The acquiring unit, for utilizing the Context awareness of the target vehicle when target vehicle is in automatic driving mode System obtains target lane locating for road conditions locating for the speed of the target vehicle, the target vehicle and the target vehicle, The Context awareness system includes at least the positioning device of the target vehicle, presets map, millimetre-wave radar, controller and take the photograph As head.

11. a kind of computer readable storage medium, which is characterized in that it stores computer program, and the computer program makes The automatic Pilot method that computer perform claim requires 1 to 5 described in any item prevention malice to jump a queue.