CN113799801A - Vehicle avoidance control method and device, electronic equipment and storage medium - Google Patents
Vehicle avoidance control method and device, electronic equipment and storage medium Download PDFInfo
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- CN113799801A CN113799801A CN202111215007.1A CN202111215007A CN113799801A CN 113799801 A CN113799801 A CN 113799801A CN 202111215007 A CN202111215007 A CN 202111215007A CN 113799801 A CN113799801 A CN 113799801A
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/406—Traffic density
Abstract
The embodiment of the invention discloses a vehicle avoidance control method, a vehicle avoidance control device, electronic equipment and a storage medium, wherein the method comprises the following steps: under the condition of starting the intelligent driving function, identifying whether a target special vehicle exists in a preset distance range of the vehicle in the current lane; if the target special vehicle is identified and determined to exist and is positioned behind the current lane vehicle or behind the side lane vehicle, determining the traffic jam information within the preset distance range of the current lane vehicle; if the traffic jam information indicates that the jam occurs, the vehicle in the current lane is controlled to move towards the direction deviating from the lane where the target special vehicle is located for avoiding, so that part of lanes occupied by the vehicle in the current lane are avoided, and an emergency channel is avoided for the special vehicle to pass through under the condition of traffic jam of the road.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent driving, in particular to a vehicle avoidance control method and device, electronic equipment and a storage medium.
Background
With the development of the automatic driving technology, scenes which can be processed by automatic driving are richer and richer, and gradually approach the level of human drivers. The current traffic participant who autopilot involves is mostly ordinary vehicle, and when special vehicles such as to fire engine, ambulance, police wagon, less have at present special tactics to this operating mode, among the autopilot is special, runs into special vehicle and carries out the task, if only handle it as ordinary vehicle, then can not dodge it, especially under the operating mode that the traffic is comparatively crowded, can lead to special vehicle to pass through in time, delays the task execution of special vehicle.
Disclosure of Invention
The embodiment of the invention provides a vehicle avoidance control method, a vehicle avoidance control device, electronic equipment and a storage medium, and aims to make an emergency channel for a special vehicle to pass through under the condition of traffic congestion.
In a first aspect, an embodiment of the present invention provides a vehicle avoidance control method, including:
under the condition of starting the intelligent driving function, identifying whether a target special vehicle exists in a preset distance range of the vehicle in the current lane;
if the target special vehicle is identified and determined to exist and is positioned behind the current lane vehicle or behind the side lane vehicle, determining the traffic jam information within the preset distance range of the current lane vehicle;
and if the traffic jam information indicates that the jam occurs, controlling the vehicle in the current lane to move and avoid in the direction deviating from the lane where the target special vehicle is located so as to make way for part of the lanes occupied by the vehicle in the current lane.
In a second aspect, an embodiment of the present invention further provides a vehicle avoidance control device, including:
the target special vehicle identification module is used for identifying whether a target special vehicle exists in a preset distance range of the current lane vehicle under the condition that the intelligent driving function is started;
the traffic jam information determining module is used for determining the traffic jam information within the preset distance range of the current lane vehicle if the target special vehicle is identified and determined to exist and is positioned behind the current lane vehicle or behind the side lane vehicle;
and the vehicle moving and avoiding module is used for controlling the vehicle in the current lane to move and avoid towards the direction deviating from the lane where the target special vehicle is located if the traffic jam information indicates that the jam occurs, so as to make way for part of the lanes occupied by the vehicle in the current lane.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
storage means for storing one or more programs;
the one or more programs are executed by the one or more processors to cause the one or more processors to implement a vehicle avoidance control method as provided in any embodiment of the invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the vehicle avoidance control method as provided in any of the embodiments of the present invention.
The embodiment of the invention discloses a vehicle avoidance control method, which is used for identifying whether a target special vehicle exists in a preset distance range of a current lane vehicle or not under the condition of starting an intelligent driving function; if the target special vehicle is identified and determined to exist and is positioned behind the current lane vehicle or behind the side lane vehicle, determining the traffic jam information within the preset distance range of the current lane vehicle; and if the traffic jam information indicates that the jam occurs, controlling the vehicle in the current lane to move and avoid in the direction deviating from the lane where the target special vehicle is located so as to make way for part of the lanes occupied by the vehicle in the current lane. By adopting the technical scheme of the embodiment of the invention, the technical effect of giving way to the emergency passage for special vehicles to pass under the condition of traffic congestion can be achieved.
The above summary of the present invention is merely an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description in order to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flowchart of a vehicle avoidance control method according to an embodiment of the present application;
fig. 2 is a flowchart of a vehicle avoidance control method according to a second embodiment of the present application;
fig. 2A is a flowchart of a control method for a vehicle to avoid a special vehicle according to an embodiment of the present application;
FIG. 2B is a schematic diagram of lane-change avoidance for a vehicle according to an embodiment of the present disclosure;
fig. 2C is a schematic diagram of non-lane-changing avoidance of a vehicle according to an embodiment of the present disclosure;
fig. 2D is a schematic diagram of a vehicle avoidance operation provided by an embodiment of the present application;
FIG. 2E is a schematic diagram of a vehicle passing by a special vehicle according to an embodiment of the present disclosure;
fig. 2F is a schematic diagram of vehicle avoidance completion provided by the embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle avoidance control device according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a vehicle avoidance control method according to an embodiment of the present invention, where the method is applicable to a situation where an emergency passageway is made available for a special vehicle to pass through in a case of a congested road, and the method may be executed by a vehicle avoidance control apparatus, which may be implemented by software and/or hardware, and may be integrated in an electronic device. As shown in fig. 1, the vehicle avoidance control method in the present embodiment includes the following steps:
and S110, under the condition that the intelligent driving function is started, identifying whether a target special vehicle exists in a preset distance range of the vehicle in the current lane.
The preset distance range may be an effective distance range that can be recognized by a preset vehicle in the current lane, and may be, for example, whether a target special vehicle exists within a range of 5 meters of the vehicle in the current lane.
The target special vehicle may refer to a vehicle performing a special task, such as a special vehicle including, but not limited to, an ambulance, a fire truck, and a police vehicle.
And S120, if the target special vehicle is identified and determined to exist and is positioned behind the current lane vehicle or behind the side lane vehicle, determining the traffic jam information within the preset distance range of the current lane vehicle.
The traffic congestion information may refer to congestion degree information of a road section or an intersection, and for example, the congestion degree within the preset range of the vehicle in the current lane may be determined if a target special vehicle exists behind the vehicle in the current lane.
The rear of the vehicle in the side lane may refer to the rear of the vehicle in the lanes on both sides of the vehicle in the current lane, as shown in fig. 2C, if a target special vehicle exists behind the vehicle B in the side lane of the vehicle a in the current lane, the traffic congestion degree in the preset distance range of a is determined.
And S130, if the traffic jam information indicates that the jam occurs, controlling the vehicle in the current lane to move towards the direction deviating from the lane where the target special vehicle is located for avoiding so as to make way for part of the lanes occupied by the vehicle in the current lane.
The moving avoidance can refer to moving the vehicle in the current lane to make a part of lanes occupied by the vehicle in the current lane so that the target special vehicle can pass through smoothly. As shown in fig. 2D, the vehicle in the current lane moves to the side lane to the position of the vehicle in the dotted line, so that the target special vehicle can pass through smoothly.
Yielding the lane occupied by part of the vehicles in the current lane can mean that the lane where the part of the vehicles in the current lane is located is provided for the target special vehicle to pass; or other vehicles are used for avoiding the occupation of the vehicles, and the other vehicles are led out of the lane for the target special vehicle to pass through.
The embodiment of the invention provides a vehicle avoidance control method, which is characterized in that whether a target special vehicle exists in a preset distance range of a current lane vehicle is identified under the condition of starting an intelligent driving function; if the target special vehicle is identified and determined to exist and is positioned behind the current lane vehicle or behind the side lane vehicle, determining the traffic jam information within the preset distance range of the current lane vehicle; if the traffic jam information indicates that the jam occurs, the vehicle in the current lane is controlled to move towards the direction deviating from the lane where the target special vehicle is located for avoiding, so that part of lanes occupied by the vehicle in the current lane are avoided, and under the condition that the road is congested and the lane cannot be changed, an emergency channel is avoided for the special vehicle to pass through by special avoiding.
Example two
Fig. 2 is a flowchart of another vehicle avoidance control method according to a second embodiment of the present application. Embodiments of the present invention are further optimized on the basis of the above-mentioned embodiments, and the embodiments of the present invention may be combined with various alternatives in one or more of the above-mentioned embodiments. As shown in fig. 2, the vehicle avoidance control method provided in the embodiment of the present invention may include the following steps:
s210, determining whether a target special vehicle exists in a preset distance range of the vehicle in the current lane according to the traffic environment identification information and the vehicle attribute information of the special vehicle.
The traffic environment recognition information may refer to information around a lane where the current vehicle is located, which is acquired by the vehicle-mounted sensor, and includes, but is not limited to, lane line recognition, surrounding vehicle recognition, obstacle recognition, and lane boundary recognition.
The vehicle attribute information may refer to vehicle attribute information of a special vehicle obtained by communication including, but not limited to, an in-vehicle sensor or the internet of vehicles V2X, the vehicle attribute information including, but not limited to, vehicle duty information, vehicle position information, vehicle speed information, and vehicle status information. The vehicle state information may refer to whether or not it is in an emergency state, such as fire fighting, etc.
Optionally, the vehicle-mounted sensor includes, but is not limited to, an image acquisition sensor, a millimeter wave radar sensor, a laser radar sensor, an ultrasonic radar sensor, and a look-around sensor.
The vehicle attribute information of the special vehicle and the information around the lane where the current vehicle is located are obtained through vehicle-mounted sensors or vehicle networking V2X communication, the position of the special vehicle can be accurately judged without being influenced by the environment, and the special vehicle is avoided.
S220, if the target special vehicle is identified and determined to exist and is located behind the current lane vehicle or behind the side lane vehicle, determining the traffic jam information within the preset distance range of the current lane vehicle.
And S230, planning the running track of the vehicle in the current lane according to the traffic environment identification information around the vehicle in the current lane to obtain a vehicle avoidance track moving and avoiding towards the side of the lane where the target special vehicle is located.
The vehicle avoidance track can be a running track of the vehicle on the current lane planned in real time according to the traffic environment identification information, and a reasonable avoidance track can be planned for the special vehicle.
Optionally, the vehicle movement avoiding operation includes, but is not limited to, performing a side steering movement to the left front of the vehicle or to the right front of the vehicle, and making the emergency passage.
S240, generating a vehicle avoidance control instruction according to vehicle avoidance control information used for vehicle avoidance, and performing transverse and longitudinal control on the vehicle in the current lane along the vehicle avoidance track according to the vehicle avoidance control instruction.
The vehicle avoidance control instruction can be an instruction for performing vehicle avoidance control on the vehicle in the current lane according to the traffic environment identification information and the vehicle avoidance track; the vehicle avoidance control information includes, but is not limited to, vehicle speed, vehicle acceleration, vehicle steering speed, and vehicle steering acceleration;
optionally, the longitudinal and transverse control is used for controlling longitudinal driving and transverse steering of the vehicle. Longitudinal drives include, but are not limited to, engines, electric motors, and hybrid power, among others; lateral steering includes, but is not limited to, steering mechanisms and systems.
Optionally, the avoidance condition of the vehicle behind the vehicle in the current lane and/or the vehicle on the side lane of the vehicle in the current lane is detected;
and controlling the vehicle on the current lane to move and avoid towards the direction side deviating from the lane where the target special vehicle is located according to the avoiding condition and/or the lane where the target vehicle is located.
When detecting that a vehicle behind the vehicle on the current lane and/or a vehicle on a lane beside the vehicle on the current lane moves and avoids towards the direction deviating from the lane where the target special vehicle is located, the vehicle on the current lane starts to avoid; and when the target special vehicle is detected to exist behind the vehicle in the current lane, the vehicle in the current lane is avoided.
Optionally, after the vehicle on the current lane is controlled to move towards the direction deviating from the lane where the target special vehicle is located, if it is detected that the vehicle behind the vehicle on the current lane and/or the vehicle on the lane beside the vehicle on the current lane is/are avoided, the vehicle on the current lane is controlled to finely adjust and move towards the direction deviating from the lane where the target special vehicle is located to continue avoiding.
And S250, when the vehicle on the current lane is controlled to move towards the direction deviating from the lane where the target special vehicle is located for avoiding, sending an avoidance prompt to the vehicle on the lane beside the vehicle on the current lane.
The avoidance reminding can be prompt information sent to the vehicles on the side lanes when avoidance is needed, for example, the avoidance reminding includes but is not limited to turning on a double-flashing light to flash and/or turning on a loudspeaker to broadcast.
In an alternative of this embodiment, the vehicle normally runs under the control of the intelligent driving system, and determines whether there is a special vehicle near the vehicle in the current lane in real time, and if there is a special vehicle, the avoidance operation is performed, as shown in fig. 2A, which is a flowchart of a control method for the vehicle to avoid the special vehicle, and the control method may include steps S1-S7:
s1, the system judges whether special vehicles exist near the current lane vehicle in real time according to the traffic environment identification information and the vehicle attribute information;
s2, when detecting that the vehicle accessory of the current lane has the special vehicle, judging whether the positions of the special vehicle and the vehicle of the current lane are behind the vehicle of the current lane;
s3, when the special vehicle is detected to be located behind the vehicle in the current lane, judging whether the current traffic environment is congested or not by combining the traffic environment identification information, and judging whether the vehicle in the current lane can execute lane changing operation to avoid the special vehicle or not:
s4, when it is detected that a special vehicle exists behind the vehicle in the current lane and the current traffic environment meets the lane changing condition of the vehicle in the current lane, the vehicle in the current lane avoids the special vehicle through the lane changing operation, as shown in FIG. 2B;
s5, as shown in FIG. 2C, the current traffic environment is in congestion, and the current situation can not meet the lane changing condition of the vehicle in the current lane; then the vehicle in the current lane performs special avoidance operation as shown in fig. 2D, the vehicle in the current lane turns to the left or right front side body, and simultaneously the double flashing lamps are turned on to give way to the emergency channel;
s6, as shown in FIG. 2E, the special vehicle passes through the emergency channel made by the vehicle in the current lane and other vehicles;
and S7, as shown in FIG. 2F, after the vehicle in the current lane is avoided, monitoring whether the special vehicle passes through in real time, and after the special vehicle passes through the vehicle in the current lane, returning the vehicle in the current lane to the central position of the current lane, and continuously executing the normal automatic driving strategy and control.
The embodiment of the invention provides a vehicle avoidance control method, which comprises the steps of determining whether a target special vehicle exists in a preset distance range of a vehicle in a current lane or not through traffic environment identification information and vehicle attribute information of the special vehicle; when the target special vehicle is positioned behind the current lane vehicle or behind the side lane vehicle, determining the traffic jam information within the preset distance range of the current lane vehicle; planning a running track of the current lane vehicle according to the traffic environment identification information around the current lane vehicle to obtain a vehicle avoidance track moving and avoiding towards the side of the lane where the target special vehicle is located; generating a vehicle avoidance control instruction according to vehicle avoidance control information used for vehicle avoidance, and performing transverse and longitudinal control on the vehicle on the current lane along the vehicle avoidance track according to the vehicle avoidance control instruction; when the current lane vehicle is controlled to move towards the side deviating from the lane where the target special vehicle is located, an avoidance prompt is sent to the vehicle on the side lane beside the current lane vehicle; after the special vehicle passes through, the vehicle in the current lane returns to the center of the lane, and the vehicle continues to normally run. The traffic jam information is detected in real time under the condition that road traffic is crowded and the lane changing and avoiding cannot be carried out, the position of the special vehicle is accurately judged without being influenced by the environment, the avoiding track is reasonably planned to control the vehicle to move, meanwhile, an avoiding prompt is sent to the vehicles on the lanes beside the current lane vehicle, and an emergency channel is given out for the special vehicle to pass through smoothly through the special avoiding.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle avoidance control device provided in the third embodiment of the present invention. The device can be suitable for the situation that an emergency channel is made for special vehicles to pass through in the case of crowded roads, and can be realized by software and/or hardware and integrated in electronic equipment. The device is used for realizing the vehicle avoidance control method provided by the embodiment. As shown in fig. 3, the vehicle avoidance control apparatus provided in the present embodiment includes:
the target special vehicle identification module 310 is used for identifying whether a target special vehicle exists in a preset distance range of a current lane vehicle under the condition that the intelligent driving function is started;
the traffic jam information determining module 320 is configured to determine traffic jam information within a preset distance range of a current lane vehicle if it is determined that a target special vehicle exists and the target special vehicle is located behind the current lane vehicle or behind a side lane vehicle;
and the vehicle moving and avoiding module 330 is configured to, if the traffic congestion information indicates that congestion occurs, control the vehicle in the current lane to move and avoid in a direction deviating from the lane where the target special vehicle is located, so as to make way for a part of lanes occupied by the vehicle in the current lane.
On the basis of the above embodiment, optionally, the target special vehicle identification module 310 includes:
determining traffic environment identification information around the vehicle in the current lane; the traffic environment recognition comprises lane line recognition, surrounding vehicle recognition, obstacle recognition and lane boundary recognition;
determining vehicle attribute information of the special vehicle; the vehicle attribute information comprises vehicle duty information, vehicle position information, vehicle speed information and vehicle state information;
and determining whether the target special vehicle exists in the preset distance range of the vehicle in the current lane according to the traffic environment identification information and the vehicle attribute information of the special vehicle.
On the basis of the above embodiment, optionally, the traffic environment identification information is acquired through a vehicle-mounted sensor, and the vehicle attribute information is acquired through a vehicle-mounted sensor or vehicle networking V2X; the in-vehicle sensor includes the following: image acquisition sensor, millimeter wave radar sensor, laser radar sensor, ultrasonic radar sensor and look around sensor.
On the basis of the above embodiment, optionally, the vehicle movement avoidance module 330 includes:
planning a running track of the current lane vehicle according to the traffic environment identification information around the current lane vehicle to obtain a vehicle avoidance track moving and avoiding towards the side of the lane where the target special vehicle is located;
generating a vehicle avoidance control instruction according to vehicle avoidance control information used for vehicle avoidance, and performing transverse and longitudinal control on the vehicle on the current lane along the vehicle avoidance track according to the vehicle avoidance control instruction;
the vehicle avoidance control information comprises vehicle speed, vehicle acceleration, vehicle steering speed and vehicle steering acceleration; the longitudinal and transverse control is used for controlling longitudinal driving and transverse steering of the vehicle.
On the basis of the above embodiment, optionally, the vehicle movement avoidance module 330 further includes:
detecting the avoidance condition of a vehicle behind the current lane vehicle and/or a vehicle on a lane beside the current lane vehicle;
and controlling the vehicle on the current lane to move and avoid towards the direction side deviating from the lane where the target special vehicle is located according to the avoiding condition and/or the lane where the target vehicle is located.
On the basis of the above embodiment, optionally, the vehicle movement avoidance module 330 further includes:
after the current lane vehicle is controlled to move towards the direction deviating from the lane where the target special vehicle is located, if the vehicle behind the current lane vehicle and/or the vehicle on the lane beside the current lane vehicle are detected to avoid, the current lane vehicle is controlled to finely adjust and move towards the direction deviating from the lane where the target special vehicle is located to continue avoiding.
On the basis of the above embodiment, optionally, the movement avoidance operation of the vehicle includes performing a side steering movement to the left front of the vehicle or the right front of the vehicle to make way of the emergency passageway.
On the basis of the foregoing embodiment, optionally, the vehicle avoidance control device further includes:
the avoidance reminding module is used for sending avoidance reminding to the vehicles on the lanes beside the current lane vehicle when controlling the current lane vehicle to move towards the lane deviating from the target special vehicle to avoid; the avoidance reminding comprises turning on a double-flashing light to flash and/or turning on a loudspeaker to broadcast.
The vehicle avoidance control device provided by the embodiment of the invention can execute the vehicle avoidance control method provided by any embodiment of the invention, has corresponding functions and beneficial effects of executing the vehicle avoidance control method, and the detailed process refers to the relevant operations of the vehicle avoidance control method in the embodiment.
Example four
Fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application. The embodiment of the application provides electronic equipment, and the vehicle avoidance control device provided by the embodiment of the application can be integrated in the electronic equipment. As shown in fig. 4, the present embodiment provides an electronic device 400, which includes: one or more processors 420; the storage device 410 is configured to store one or more programs, and when the one or more programs are executed by the one or more processors 420, the one or more processors 420 are enabled to implement the vehicle avoidance control method provided in the embodiment of the present application, the method includes:
under the condition of starting the intelligent driving function, identifying whether a target special vehicle exists in a preset distance range of the vehicle in the current lane;
if the target special vehicle is identified and determined to exist and is positioned behind the current lane vehicle or behind the side lane vehicle, determining the traffic jam information within the preset distance range of the current lane vehicle;
and if the traffic jam information indicates that the jam occurs, controlling the vehicle in the current lane to move and avoid in the direction deviating from the lane where the target special vehicle is located so as to make way for part of the lanes occupied by the vehicle in the current lane.
Of course, those skilled in the art can understand that the processor 420 also implements the technical solution of the vehicle avoidance control method provided in any embodiment of the present application.
The electronic device 400 shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 4, the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of the processors 420 in the electronic device may be one or more, and one processor 420 is taken as an example in fig. 4; the processor 420, the storage device 410, the input device 430, and the output device 440 in the electronic apparatus may be connected by a bus or other means, and are exemplified by a bus 450 in fig. 4.
The storage device 410 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and module units, such as program instructions corresponding to the vehicle avoidance control method in the embodiment of the present application.
The storage device 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 410 may further include memory located remotely from processor 420, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 430 may be used to receive input numbers, character information, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. The output device 440 may include a display screen, speakers, or other electronic equipment.
The electronic equipment provided by the embodiment of the application can achieve the technical effect of giving way to the emergency channel for special vehicles to pass under the condition of crowded road traffic.
EXAMPLE five
An embodiment of the present invention provides a computer-readable medium, on which a computer program is stored, the computer program being, when executed by a processor, configured to perform a vehicle avoidance control method, the method including:
under the condition of starting the intelligent driving function, identifying whether a target special vehicle exists in a preset distance range of the vehicle in the current lane;
if the target special vehicle is identified and determined to exist and is positioned behind the current lane vehicle or behind the side lane vehicle, determining the traffic jam information within the preset distance range of the current lane vehicle;
and if the traffic jam information indicates that the jam occurs, controlling the vehicle in the current lane to move and avoid in the direction deviating from the lane where the target special vehicle is located so as to make way for part of the lanes occupied by the vehicle in the current lane.
Optionally, the program, when executed by the processor, may be further configured to execute a vehicle avoidance control method provided in any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A vehicle avoidance control method, characterized by comprising:
under the condition of starting the intelligent driving function, identifying whether a target special vehicle exists in a preset distance range of the vehicle in the current lane;
if the target special vehicle is identified and determined to exist and is positioned behind the current lane vehicle or behind the side lane vehicle, determining the traffic jam information within the preset distance range of the current lane vehicle;
and if the traffic jam information indicates that the jam occurs, controlling the vehicle in the current lane to move and avoid in the direction deviating from the lane where the target special vehicle is located so as to make way for part of the lanes occupied by the vehicle in the current lane.
2. The method of claim 1, wherein identifying whether a target special vehicle is present within a preset distance range of a vehicle in a current lane comprises:
determining traffic environment identification information around the vehicle in the current lane; the traffic environment recognition comprises lane line recognition, surrounding vehicle recognition, obstacle recognition and lane boundary recognition;
determining vehicle attribute information of the special vehicle; the vehicle attribute information comprises vehicle duty information, vehicle position information, vehicle speed information and vehicle state information;
and determining whether the target special vehicle exists in the preset distance range of the vehicle in the current lane according to the traffic environment identification information and the vehicle attribute information of the special vehicle.
3. The method of claim 2, wherein the traffic environment identification information is obtained by an on-board sensor, and the vehicle attribute information is obtained by an on-board sensor or internet of vehicles V2X communication; the in-vehicle sensor includes the following: image acquisition sensor, millimeter wave radar sensor, laser radar sensor, ultrasonic radar sensor and look around sensor.
4. The method according to claim 1, wherein the step of controlling the current lane vehicle to move and avoid towards the direction deviating from the lane where the target special vehicle is located comprises the following steps:
planning a running track of the current lane vehicle according to the traffic environment identification information around the current lane vehicle to obtain a vehicle avoidance track moving and avoiding towards the side of the lane where the target special vehicle is located;
generating a vehicle avoidance control instruction according to vehicle avoidance control information used for vehicle avoidance, and performing transverse and longitudinal control on the vehicle on the current lane along the vehicle avoidance track according to the vehicle avoidance control instruction;
the vehicle avoidance control information comprises vehicle speed, vehicle acceleration, vehicle steering speed and vehicle steering acceleration; the longitudinal and transverse control is used for controlling longitudinal driving and transverse steering of the vehicle.
5. The method according to claim 1, wherein the step of controlling the current lane vehicle to move and avoid towards the direction deviating from the lane where the target special vehicle is located comprises the following steps:
detecting the avoidance condition of a vehicle behind the current lane vehicle and/or a vehicle on a lane beside the current lane vehicle;
and controlling the vehicle on the current lane to move and avoid towards the direction side deviating from the lane where the target special vehicle is located according to the avoiding condition and/or the lane where the target vehicle is located.
6. The method according to any one of claims 1 to 5, wherein the step of controlling the vehicle in the current lane to move and avoid towards the direction side deviating from the lane in which the target special vehicle is located comprises the following steps:
after the current lane vehicle is controlled to move towards the direction deviating from the lane where the target special vehicle is located, if the vehicle behind the current lane vehicle and/or the vehicle on the lane beside the current lane vehicle are detected to avoid, the current lane vehicle is controlled to finely adjust and move towards the direction deviating from the lane where the target special vehicle is located to continue avoiding.
7. The method of claim 1, wherein the vehicle movement avoidance maneuver comprises a side steering movement to the front left of the vehicle or to the front right of the vehicle to clear the emergency corridor.
8. The method of claim 1, further comprising:
when the current lane vehicle is controlled to move towards the side deviating from the lane where the target special vehicle is located, an avoidance prompt is sent to the vehicle on the side lane beside the current lane vehicle; the avoidance reminding comprises turning on a double-flashing light to flash and/or turning on a loudspeaker to broadcast.
9. A vehicle avoidance control apparatus characterized by comprising:
the target special vehicle identification module is used for identifying whether a target special vehicle exists in a preset distance range of the current lane vehicle under the condition that the intelligent driving function is started;
the traffic jam information determining module is used for determining the traffic jam information within the preset distance range of the current lane vehicle if the target special vehicle is identified and determined to exist and is positioned behind the current lane vehicle or behind the side lane vehicle;
and the vehicle moving and avoiding module is used for controlling the vehicle in the current lane to move and avoid towards the direction deviating from the lane where the target special vehicle is located if the traffic jam information indicates that the jam occurs, so as to make way for part of the lanes occupied by the vehicle in the current lane.
10. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a vehicle avoidance control method as recited in any of claims 1-8.
11. A computer-readable storage medium on which a computer program is stored, the program, when being executed by a processor, implementing a vehicle avoidance control method according to any one of claims 1 to 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111215007.1A CN113799801A (en) | 2021-10-19 | 2021-10-19 | Vehicle avoidance control method and device, electronic equipment and storage medium |
| PCT/CN2022/125296 WO2023066146A1 (en) | 2021-10-19 | 2022-10-14 | Vehicle avoidance control method and apparatus, and electronic device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111215007.1A CN113799801A (en) | 2021-10-19 | 2021-10-19 | Vehicle avoidance control method and device, electronic equipment and storage medium |
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| CN113799801A true CN113799801A (en) | 2021-12-17 |
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| CN202111215007.1A Pending CN113799801A (en) | 2021-10-19 | 2021-10-19 | Vehicle avoidance control method and device, electronic equipment and storage medium |
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| WO (1) | WO2023066146A1 (en) |
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