CN110733499A - Autonomous vehicle and control method thereof - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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 invention provides autonomous vehicle control methods, which include receiving and analyzing information sent by a special vehicle, wherein the information includes demand information and the current position of the special vehicle, determining the priority corresponding to the demand information, and controlling the state of the autonomous vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in the information in sequence from high to low according to the priority, so as to avoid the special vehicle.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to autonomous vehicles and a control method thereof, computer equipment, a computer storage readable storage medium and a control method of a traffic system.
Background
An auto-driving automobile (Self-steering automobile) is also called as an Autonomous vehicle, an unmanned automobile, a computer-driven automobile, a wheeled mobile robot, and the like, and a computer system can automatically and safely control a motor vehicle without the active operation of human through the cooperative work of artificial intelligence, visual calculation, radar, a monitoring device, a global positioning system, and the like.
Special vehicles typically include: ambulances, fire trucks, police cars, engineering wreckers, and the like. For such vehicles, the destination needs to be reached in the shortest time, so that during the driving process, how to avoid the blockage during the driving process is important for the vehicles to smoothly drive to the destination. At present, a special vehicle informs surrounding vehicles in a driving process in a siren mode, and drivers in the surrounding vehicles give way to the special vehicle by judging the position relation between the special vehicle and the vehicle and surrounding road conditions, so that the special vehicle can smoothly pass through the special vehicle.
However, when the periphery of the special vehicle is the autonomous vehicle, how the autonomous vehicle runs to avoid the special vehicle, and how the autonomous vehicle correspondingly avoids the different special vehicles when a plurality of special vehicles run around the autonomous vehicle, so as to ensure that the special vehicle can run smoothly becomes which is a problem to be solved urgently at present.
Disclosure of Invention
The invention aims to solve the problem of providing autonomous vehicle control methods to ensure that a special vehicle can run smoothly.
In order to solve the above problems, the present invention provides autonomous vehicle control methods, comprising:
receiving and analyzing information sent by the special vehicle, wherein the information comprises demand information and the current position of the special vehicle;
determining the priority corresponding to the demand information;
and controlling the state of the autonomous vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in the information in sequence from high priority to low priority so as to avoid the special vehicle.
Optionally, controlling the state of the autonomous vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles associated with the autonomous vehicle in the information, including: and controlling the driving direction and the driving speed of the autonomous vehicle according to the relative position relationship between the special vehicle and the autonomous vehicle and the relative position relationship between the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle.
Optionally, the requirement information includes a task type, and a priority corresponding to the requirement information is determined according to a priority of the task type.
Optionally, the requirement information includes a task type and an avoidance request, and a priority corresponding to the requirement information is determined according to a priority of the task type; and when the task types are the same, determining the priority corresponding to the demand information according to the priority of the avoidance request.
Optionally, the control method further includes the step that the autonomous vehicle sends the received information sent by the special vehicle to other autonomous vehicles.
Optionally, the control method further comprises indicating whether a driver of the autonomous vehicle switches a current driving mode before controlling the state of the autonomous vehicle.
The technical solution of the present invention further provides computer devices, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor is configured to implement the following operations when executing the computer program:
receiving and analyzing information sent by the special vehicle, wherein the information comprises demand information and the current position of the special vehicle;
determining the priority corresponding to the demand information;
and controlling the state of the autonomous vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in the information in sequence from high priority to low priority so as to avoid the special vehicle.
The present invention further provides computer storage readable storage media comprising computer executable instructions that, when executed, perform any of the above methods of controlling an autonomous vehicle of .
The technical scheme of the invention also provides kinds of autonomous vehicles, which comprise:
the receiver is used for receiving and analyzing information sent by the special vehicle, wherein the information comprises demand information and the current position of the special vehicle;
the processor is used for determining the priority corresponding to the demand information;
and the controller controls the state of the autonomous vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in the information in sequence from high priority to low priority so as to avoid the special vehicle.
The technical scheme of the invention also provides a control method of traffic systems, wherein the traffic systems at least comprise special vehicles and autonomous vehicles, and the control method comprises the following steps:
the special vehicle sends information to the autonomous vehicle, wherein the information comprises demand information and the current position of the special vehicle;
and the autonomous vehicle receives and analyzes the information sent by the special vehicle, determines the priority corresponding to the demand information, and controls the state of the autonomous vehicle according to the current position of the special vehicle in the information, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in sequence from high to low according to the priority, so as to avoid the special vehicle.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the autonomous vehicles positioned around the special vehicle receive the information sent by the special vehicle, and sequentially make corresponding reactions based on the priority of the demand information in the information, namely, the state of the autonomous vehicle is controlled to avoid the special vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and the autonomous vehicle related to the autonomous vehicle, and the special vehicle is ensured to run quickly on a road where the autonomous vehicle runs, so that special tasks can be smoothly executed.
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FIG. 1 is a flow chart of an autonomous vehicle control method of an embodiment of the present invention;
FIG. 2 is a schematic illustration of an ambulance and autonomous vehicle position relationship according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of the positional relationship of an ambulance, a police vehicle, and an autonomous vehicle in accordance with an embodiment of the present invention.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings, wherein like reference numerals refer to like elements throughout the several views, and wherein certain changes may be made in detail without departing from the spirit and scope of the invention, as indicated by the appended claims.
As described in the background art, when the periphery of the special vehicle is an autonomous vehicle, how the autonomous vehicle runs to avoid the special vehicle so that the special vehicle can smoothly pass through , which is a problem to be solved urgently.
FIG. 1 is a flow chart of an autonomous vehicle control method of an embodiment of the invention, as shown in FIG. 1: the autonomous vehicle control method includes:
s11: receiving and analyzing information sent by the special vehicle, wherein the information comprises demand information and the current position of the special vehicle;
s12: determining the priority corresponding to the demand information;
s13: and controlling the state of the autonomous vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in the information in sequence from high priority to low priority so as to avoid the special vehicle.
In this embodiment, the special vehicle may include: ambulances, fire trucks, police cars, engineering wreckers, and the like. The autonomous vehicle control method of the present embodiment will be described below with reference to a special vehicle as an ambulance as an example.
It is possible for an ambulance to send this information to its surrounding autonomous vehicles via a Vehicle-to-Vehicle communication (V2V: Vehicle-to-Vehicle communication) system in a broadcast manner broadcast coverage may be 1 km, 2 km, etc., depending on the performance and actual requirements of the Vehicle-to-Vehicle communication system broadcast coverage may be smaller, this information may also be forwarded to other autonomous vehicles by the autonomous Vehicle receiving the ambulance information.
In this embodiment, the information includes the demand information and the current location of the ambulance. The requirement information may include a task to be executed by the autonomous vehicle, how to avoid the autonomous vehicle around the autonomous vehicle during the task execution process, and the like. When the content included in the demand information is different, the manner adopted in determining the priority corresponding to the demand information is also different. In this embodiment, the requirement information may only include a task type. The requirement information may also include both task types and avoidance requests.
The task type is related to the function of the special vehicle, and if the special vehicle is an ambulance and the function of the special vehicle is life saving, the task type can be life saving; if the special vehicle is a fire truck and the function of the special vehicle is fire fighting, the task type can be fire fighting; if the special vehicle is a police car and the function of the police car is arresting criminals, the task type can be arresting; if the special vehicle is an engineering emergency car and the function of the special vehicle is engineering emergency repair, the task type can be emergency repair.
For example, an emergency lane is expected to be cleared, and if any autonomous vehicle is located in the emergency lane, the vehicle needs to drive away, the autonomous vehicles on the side are expected to stop to the right, and lanes are expected to be cleared.
The current location of the ambulance may be obtained by a Global Positioning System (GPS).
Autonomous vehicles within the coverage of ambulance receive the information and parse it to know that the current ambulance is at a certain position.
S12 is executed to determine the priority corresponding to the demand information in the analyzed information.
And if the requirement information comprises a task type, the priority corresponding to the task type is the priority of the requirement information.
For example, when the autonomous vehicles receive information sent by special vehicles of the same type, namely the types of the tasks are the same, the autonomous vehicles determine to avoid special vehicles according to the priority of the avoidance request.
In the embodiment, the priority level of the task type and the priority level of the avoidance request can be predefined and stored in a computer of the autonomous vehicle, for example, for the task types of fire fighting, fire fighting and catching, the fire fighting priority level is higher than the fire fighting priority level and the fire fighting priority level is higher than the catching, and for the avoidance request, the emergency lane is cleared, the autonomous vehicle stops to the right, and an lane is cleared, the emergency lane is cleared, and the autonomous vehicle stops to the right with higher priority than a lane.
When the autonomous vehicle receives the information sent by the plurality of special vehicles, the information is analyzed to determine the demand information, and the priority corresponding to the demand information is further determined according to the content included in the demand information.
The content included in the demand information may be numbered in actual use. Such as: the task types are numbered, and the life saving corresponds to 1, and the fire fighting corresponds to 2. The back-off requests are also numbered, such as: the cleaning of the emergency lane corresponds to 1, and the autonomous vehicle stops to the right to correspond to 2. Then 11 represents: the current task is life saving and please clear the emergency lane. 12 represents: if the task is life saving, please stop right. 21 represents: the current task is to fight a fire and please clear up an emergency lane. With 11 having a higher priority than 12 and 21 and 12 having a higher priority than 21. When the autonomous vehicle receives the information, the autonomous vehicle can directly perform corresponding actions according to the priority represented by the numbers.
For example, if the autonomous vehicle receives multiple pieces of information, wherein: the information sent by the ambulance A1 comprises 11, the information sent by the ambulance A2 comprises 12, and the information sent by the fire fighting vehicle F1 comprises 21, so that the user firstly avoids the ambulance A1, then avoids the ambulance A2, and finally avoids the fire fighting vehicle F1.
And executing S13, and after determining the priority corresponding to the demand information, controlling the current state of the autonomous vehicle according to the current position of the autonomous vehicle, the current positions of other autonomous vehicles related to the autonomous vehicle and the current position of the ambulance in the information, wherein the information with the highest priority of the demand information. The other autonomous vehicles associated with the autonomous vehicle in this embodiment may be other autonomous vehicles that are in close proximity to the autonomous vehicle (vehicles in the vicinity of the autonomous vehicle) or autonomous vehicles that would be associated during the autonomous vehicle evasion of the ambulance.
In this embodiment, the traveling direction and the traveling speed of the autonomous vehicle may be specifically controlled by a relative positional relationship between the ambulance and the autonomous vehicle, and a relative positional relationship between the autonomous vehicle and another autonomous vehicle. It should be noted that when the requirement information includes only the task type, the autonomous vehicle is usually avoided so that the special vehicle can smoothly run on the current lane. And when the requirement information comprises the task type and the avoidance request, avoiding is carried out by the avoidance request of the special vehicle.
Fig. 2 is a schematic diagram of the positional relationship between an ambulance and an autonomous vehicle according to an embodiment of the present invention, and the autonomous vehicle controls the state thereof will be described with reference to fig. 2. Fig. 2 illustrates two lanes as an example, in which 10 is an ambulance, 20 is an autonomous vehicle, and 30 is another autonomous vehicle associated with the autonomous vehicle 20 (20 is another autonomous vehicle associated with the autonomous vehicle 30). The ambulance 10 and the autonomous vehicle 20 are located in lane 1 and the autonomous vehicle 30 is located in lane 2. During driving, the ambulance 10 may send only the task type in the request information, and at this time, the avoidance default needs to drive along the current lane, that is, the ambulance 10 needs to continue driving along the current 1 st lane. When the sent demand information includes a task type and an avoidance request, the avoidance is based on the avoidance request, for example: in the following, the control of the autonomous vehicle will be described for each of the two cases, i.e., the case where the 2 nd lane is cleared (the ambulance needs to move from the current 1 st lane to the 2 nd lane).
If the ambulance 10 still needs to continue traveling along the current lane, the relative position relationship between the autonomous vehicle 20 and the ambulance 10 is such that the autonomous vehicle 20 is located in front of the ambulance 10, the left side thereof has no lane and can move only to the 2 nd lane on the right side, and the relative position relationship between the autonomous vehicle 20 and the autonomous vehicle 30 is such that the autonomous vehicle 20 is located in front of the autonomous vehicle 30 on the left side, at which time the autonomous vehicle 20 can be controlled to accelerate to the 2 nd lane on the right side (it is necessary to ensure that the autonomous vehicle 20 does not collide with the autonomous vehicle located in front of the autonomous vehicle 30 on the 2 nd lane), and the autonomous vehicle 30 is controlled to decelerate in the current direction. for the autonomous vehicle 30, the relative position relationship between the autonomous vehicle 30 and the ambulance 10 is such that the autonomous vehicle 30 is located on the right side of the ambulance 10 and not in the same lane, and for the other autonomous vehicles 20 associated with the autonomous vehicle 30, the autonomous vehicle 30 is located on the right side of the autonomous vehicle 20, and since the autonomous vehicle 10 needs to continue traveling along the current lane from the 1 st lane, the autonomous vehicle 30 is controlled to accelerate to avoid the 2 nd lane (the process of accelerating to avoid the autonomous vehicle 30 to accelerate to the autonomous vehicle 30).
If the ambulance 10 needs to change the current lane to move to the 2 nd lane for driving, the relative positional relationship between the autonomous vehicle 30 and the ambulance 10 is such that the autonomous vehicle 30 is located at the right front of the ambulance 10, and there is no lane at the right side thereof, and since the ambulance 10 is to be moved to the 2 nd lane, the autonomous vehicle 30 is decelerated on the current lane to reserve enough space for the ambulance 10 to move to the 2 nd lane, if there is no other autonomous vehicle in front of the autonomous vehicle 30 at this time, the ambulance 10 can be driven without obstacle along the 2 nd lane, and the autonomous vehicle 20 can be slightly accelerated along the current lane (enough space is reserved for the ambulance 10) or driven at the current speed along the current lane. If there is another autonomous vehicle in front of the autonomous vehicle 30, the autonomous vehicle needs to move to lane 1, control the autonomous vehicle to accelerate to travel to lane 1 forward left, and control the autonomous vehicle 20 to decelerate along the current lane.
It should be noted that, in the process of controlling the autonomous vehicle to travel, the regulations of traffic laws in different areas should be considered to determine whether the autonomous vehicle can move to other lanes, so that the autonomous vehicle can avoid a special vehicle on the premise of not violating the regulations of the traffic laws.
When the ambulance 10 is free to travel without obstruction, it no longer transmits information, otherwise it transmits information at predetermined intervals. When the autonomous vehicle reacts to the requirement information with the highest priority to avoid the special vehicle with the highest priority, the autonomous vehicle reacts to the information sent by the special vehicle with the second priority, such as a police vehicle, to avoid the police vehicle.
FIG. 3 is a schematic illustration of the positional relationship of an ambulance, a police vehicle, and an autonomous vehicle in accordance with an embodiment of the present invention. The police car 40 is located in lane 2, which needs to continue to travel along lane 2, taking the example that the ambulance 10 needs to move from lane 1 to lane 2, and only the autonomous vehicle 30 is located on lane 2, after receiving the information sent by the ambulance 10 and the information sent by the police car 40, the autonomous vehicle 20 and the autonomous vehicle 30 respond to the information sent by the ambulance 10 according to the priority of the demand information carried in the respective information, i.e., the autonomous vehicle 20 slightly accelerates and still travels along lane 1, the autonomous vehicle 30 decelerates to travel along lane 2, and after the ambulance 10 travels to lane 2, it can travel along lane 2 without obstacle. The autonomous vehicle 20 and the autonomous vehicle 30 then react accordingly to the information sent by the police car 40, specifically, the autonomous vehicle 20 may accelerate slightly to continue traveling along lane 1, and the autonomous vehicle 30 may then move to lane 1 to clear lane 2, so that the police car 40 may travel without obstacles.
The above description has been given by taking an example that the autonomous vehicle receives two pieces of information and controls the autonomous vehicle according to the priority of the demand information carried in the information, and the processing manner of the autonomous vehicle receiving a plurality of pieces of information is similar to that described above, that is, the autonomous vehicle performs corresponding actions for each pieces of information according to the priority of the demand information carried in the information, that is, the current position of the autonomous vehicle is controlled in real time according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle, so as to avoid all the special vehicles in driving.
In this embodiment, before the autonomous vehicle receives the information of the ambulance and controls the autonomous vehicle, the autonomous vehicle may further prompt, in a voice or video manner, a driver in the autonomous vehicle whether to switch a current driving mode, where the driving mode may include: automatic driving mode, manual driving mode, etc. Specifically, it is reminded to the driver whether the vehicle is driven by the driver himself or the autonomous vehicle still performs autonomous driving in the case where the ambulance needs to pass. Such as: the driver is informed in a voice mode whether the driver needs to drive by himself or herself when an ambulance passes through currently.
In practical application, the traffic situation may be complicated, and after the autonomous vehicle is controlled for time (for example, 1 minute), if a proper lane still cannot be found to avoid the special vehicle (the special vehicle continuously transmits information), the driver may be reminded again in a voice or video manner at this time, and be asked to drive the vehicle to avoid the special vehicle.
The present embodiment further provides computer apparatuses, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the computer program and implement the following operations:
receiving and analyzing information sent by the special vehicle, wherein the information comprises demand information and the current position of the special vehicle;
determining the priority corresponding to the demand information;
and controlling the state of the autonomous vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in the information in sequence from high priority to low priority so as to avoid the special vehicle.
The computer device may be disposed within the autonomous vehicle to control the autonomous vehicle to avoid a special vehicle when encountering the special vehicle during travel.
The present embodiments also provide computer storage-readable storage media comprising computer-executable instructions that, when executed, perform the autonomous vehicle control method described above.
The present embodiment also provides autonomous vehicles, comprising:
the receiver is used for receiving and analyzing information sent by the special vehicle, wherein the information comprises demand information and the current position of the special vehicle;
the processor is used for determining the priority corresponding to the demand information;
and the controller controls the state of the autonomous vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in the information in sequence from high priority to low priority so as to avoid the special vehicle.
The embodiment also provides traffic system control methods, wherein the traffic system at least comprises a special vehicle and an autonomous vehicle, and the control method comprises the following steps:
the special vehicle sends information to the autonomous vehicle, wherein the information comprises demand information and the current position of the special vehicle;
and the autonomous vehicle receives and analyzes the information sent by the special vehicle, determines the priority corresponding to the demand information, and controls the state of the autonomous vehicle according to the current position of the special vehicle in the information, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in sequence from high to low according to the priority, so as to avoid the special vehicle.
In summary, the autonomous vehicle, the control method thereof, the computer device, the computer storage readable storage medium, and the control method of the traffic system provided by the present invention have at least the following beneficial effects:
the autonomous vehicles positioned around the special vehicle receive the information sent by the special vehicle, and sequentially make corresponding reactions based on the priority of the demand information in the information, namely, the state of the autonomous vehicle is controlled to avoid the special vehicle according to the current position of the special vehicle, the current position of the autonomous vehicle and the associated autonomous vehicle, so that the special vehicle is ensured to run quickly on the road where the autonomous vehicle runs, and the special task can be smoothly executed.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1, an autonomous vehicle control method, comprising:
receiving and analyzing information sent by the special vehicle, wherein the information comprises demand information and the current position of the special vehicle;
determining the priority corresponding to the demand information;
and controlling the state of the autonomous vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in the information in sequence from high priority to low priority so as to avoid the special vehicle.
2. The control method according to claim 1, wherein controlling the autonomous vehicle state based on the current location of the special vehicle, the current locations of the autonomous vehicle and other autonomous vehicles associated with the autonomous vehicle in the information comprises: and controlling the driving direction and the driving speed of the autonomous vehicle according to the relative position relationship between the special vehicle and the autonomous vehicle and the relative position relationship between the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle.
3. The control method according to claim 1 or 2, wherein the demand information includes a task type, and the priority corresponding to the demand information is determined according to the priority of the task type.
4. The control method according to claim 1 or 2, wherein the demand information includes a task type and an avoidance request, and the priority corresponding to the demand information is determined according to the priority of the task type; and when the task types are the same, determining the priority corresponding to the demand information according to the priority of the avoidance request.
5. The control method according to claim 1, further comprising the autonomous vehicle transmitting information it receives that the special vehicle transmitted to other autonomous vehicles.
6. The control method of claim 1, further comprising prompting a driver of the autonomous vehicle whether to switch a current driving mode prior to controlling the autonomous vehicle state.
A computer device of the kind , comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor is configured to perform the following operations when the computer program is executed:
receiving and analyzing information sent by the special vehicle, wherein the information comprises demand information and the current position of the special vehicle;
determining the priority corresponding to the demand information;
and controlling the state of the autonomous vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in the information in sequence from high priority to low priority so as to avoid the special vehicle.
8, computer storage readable storage media comprising computer executable instructions that when executed perform the autonomous vehicle control method of any of claims 1-6 and .
An autonomous vehicle of the type , comprising:
the receiver is used for receiving and analyzing information sent by the special vehicle, wherein the information comprises demand information and the current position of the special vehicle;
the processor is used for determining the priority corresponding to the demand information;
and the controller controls the state of the autonomous vehicle according to the current position of the special vehicle, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in the information in sequence from high priority to low priority so as to avoid the special vehicle.
10, A control method of a traffic system including at least a special vehicle and an autonomous vehicle, characterized by comprising:
the special vehicle sends information to the autonomous vehicle, wherein the information comprises demand information and the current position of the special vehicle;
and the autonomous vehicle receives and analyzes the information sent by the special vehicle, determines the priority corresponding to the demand information, and controls the state of the autonomous vehicle according to the current position of the special vehicle in the information, the current positions of the autonomous vehicle and other autonomous vehicles related to the autonomous vehicle in sequence from high to low according to the priority, so as to avoid the special vehicle.
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| DE102017108127A1 (en) * | 2016-04-20 | 2017-10-26 | GM Global Technology Operations LLC | Remote inquiry and bridging for an automated driving system |
| CN107454554A (en) * | 2016-06-01 | 2017-12-08 | 福特全球技术公司 | Escape truck using vehicle to vehicle communication |
| CN107633684A (en) * | 2017-11-22 | 2018-01-26 | 河南大学 | A kind of special vehicle recognition methods for automatic driving car |
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| CN113602263A (en) * | 2021-08-26 | 2021-11-05 | 中国第一汽车股份有限公司 | Vehicle avoidance method and device, vehicle-mounted equipment and storage medium |
| CN113799801A (en) * | 2021-10-19 | 2021-12-17 | 中国第一汽车股份有限公司 | Vehicle avoidance control method and device, electronic equipment and storage medium |
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