CN114763135A

CN114763135A - Vehicle running control method and device, electronic equipment and storage medium

Info

Publication number: CN114763135A
Application number: CN202210391725.2A
Authority: CN
Inventors: 刘勇超
Original assignee: Shanghai Zhuxian Technology Co ltd
Current assignee: Shanghai Zhuxian Technology Co ltd
Priority date: 2022-04-14
Filing date: 2022-04-14
Publication date: 2022-07-19

Abstract

The embodiment of the application discloses a vehicle driving control method, a vehicle driving control device, electronic equipment and a storage medium. The method comprises the following steps: and aiming at any one target area with the associated vehicle, if the driving intention information of the associated vehicle in the target area is detected and the collision time between the target associated vehicle closest to the target vehicle and the target vehicle is less than a preset collision time threshold value, determining the target speed according to the target time threshold value, the speed of the target associated vehicle and the longitudinal distance between the target associated vehicle and the target vehicle. The target time threshold is greater than the preset collision time threshold, so that the determined target speed is less than the speed of the target vehicle, the target vehicle is controlled to run according to the minimum value of each target speed, and the target vehicle can be controlled to decelerate before the associated vehicle executes the operation corresponding to the running intention, so that the potential safety hazard is reduced, and the oil consumption or the power consumption is reduced.

Description

Vehicle running control method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for controlling vehicle driving, an electronic device, and a storage medium.

Background

The autonomous vehicle is based on the cooperative cooperation of artificial intelligence, visual computation, radar, monitoring devices and global positioning system, so that the control system can automatically and safely operate the motor vehicle without any human active operation.

In the driving process of the vehicle, the driving behaviors of surrounding vehicles directly influence the driving decision of the vehicle. In the related art, after the driving behavior of the surrounding vehicle occurs, the self vehicle makes a corresponding decision. For example, vehicles in adjacent lanes suddenly change lanes to their own lanes, and the own vehicle needs to make a quick decision. However, in this case, not only a great potential safety hazard is caused, but also unnecessary oil loss or electric power loss is caused by emergency braking of the vehicle.

Disclosure of Invention

The embodiment of the application provides a vehicle running control method and device, electronic equipment and a storage medium, which are used for reducing the potential safety hazard of a vehicle running process and reducing unnecessary oil loss or electric quantity loss.

In a first aspect, an embodiment of the present application provides a vehicle driving control method, including:

determining that at least one target area exists for the associated vehicle;

for any one target area, if the driving intention information of the associated vehicle in the target area is detected, and the collision time between the associated vehicle and the target vehicle in the target area is smaller than a preset collision time threshold, determining a target speed according to the target time threshold, the speed of the target associated vehicle and the longitudinal distance between the associated vehicle and the target vehicle; the target associated vehicle is an associated vehicle which is closest to the target vehicle in the target area, and the target time threshold is larger than the preset collision time threshold;

controlling the target vehicle to run according to the minimum value of the target speed corresponding to each target area;

if the target area is an area right in front of the target vehicle in the current lane, the driving intention information comprises braking information; or

If the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane, the driving intention information includes at least one of steering information, sway information, and following information; the sway information is determined according to a relationship between a lateral speed of the associated vehicle within the target area and a preset lateral speed threshold; the following information is determined according to the collision time between two associated vehicles in the target area, or the following information is determined according to the longitudinal distance between the two associated vehicles in the target area and the acceleration of the target associated vehicle; the two associated vehicles are the target associated vehicle and a reference associated vehicle, and the reference associated vehicle is the associated vehicle which is closest to the target associated vehicle in the target area.

In the embodiment of the application, aiming at any one target area with the associated vehicle, the driving intention information (braking information, steering information, swing information or following information) of the associated vehicle in the target area is detected, and the driving intention information is usually related to the type of the target area, for example, when the target area is an area right ahead, the braking information represents that the driving intention of the associated vehicle is braking; and when the target area is a left front area or a right front area, the steering information, the swing information or the following information represent the driving intention of the associated vehicle and are lane changes. The sway information is determined according to the lateral velocity (the adjusted sway degree) of the target associated vehicle (the associated vehicle closest to the target vehicle), and the following information is determined according to the time of collision between the front and rear associated vehicles, or the longitudinal distance and the acceleration of the target associated vehicle, in both cases, the target associated vehicle has a tendency to change lanes and overtake. Therefore, the predicted target through the conditions is related to the braking or lane-changing behavior of the vehicle, and the target is accurate and comprehensive. In this way, when the travel intention information of the associated vehicle in the target area is detected, indicating that the target associated vehicle has a corresponding travel intention, if the collision time between the target associated vehicle and the target vehicle in the target area is less than the preset collision time threshold, a risk of collision between the target vehicle and the target associated vehicle may be caused. At this time, the target speed can be determined according to the target time threshold, the speed of the target associated vehicle and the longitudinal distance between the associated vehicle and the target vehicle, and in addition, because the target time threshold is greater than the preset collision time threshold, the determined target speed is less than the speed of the target vehicle, thus, before the behavior corresponding to the driving intention of the target associated vehicle occurs, the target vehicle is controlled to decelerate according to the target speed in advance, the safety risk is reduced, and unnecessary oil consumption or power consumption caused by sudden braking of the target associated vehicle or sudden lane change of the target vehicle is reduced.

In some exemplary embodiments, the time-to-collision between the target vehicle and the target-associated vehicle is determined by:

determining a collision time between the target vehicle and the target associated vehicle according to a speed difference between the target vehicle and the target associated vehicle and a longitudinal distance between the target vehicle and the target associated vehicle;

determining a time to collision between the reference associated vehicle and the target associated vehicle by:

determining a time to collision between the reference associated vehicle and the target associated vehicle based on a speed difference between the reference associated vehicle and the target associated vehicle and a longitudinal distance between the reference associated vehicle and the target associated vehicle.

According to the embodiment, the collision time determined by the method is used for judging the collision risk, compared with the method that the collision risk is judged by only using the longitudinal distance between two vehicles in the related technology, the method and the device are higher in accuracy, and the driving safety of the target vehicle and the target-related vehicle is improved.

In some exemplary embodiments, if the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane, the sway information is determined by:

acquiring speed information of the target-associated vehicle in the target area;

determining the transverse speed of the target associated vehicle according to the transverse component in the speed information;

and if the transverse speed is greater than the preset transverse speed threshold, generating the swing information according to the speed deviation between the transverse speed and the preset speed threshold.

In the above embodiment, the lateral speed of the target-associated vehicle is greater than the preset lateral speed threshold, indicating that the vehicle body of the target vehicle swings laterally too much, that is, the driving behavior is abnormal, and there is a possibility of lane change, and therefore, for safety, in this case, the sway information that can trigger the deceleration of the target vehicle is generated. The lane change behavior of the target associated vehicle is more fully predicted than if the lane change behavior were predicted solely by means of the steering signal.

In some exemplary embodiments, if the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane, the following information is generated by:

if the collision time between two associated vehicles in the target area is smaller than the preset collision time threshold value, generating the following information according to the time deviation between the collision time and the preset collision time; or

And if the longitudinal distance between the two associated vehicles in the target area is smaller than the preset longitudinal distance threshold value and the acceleration of the target associated vehicle is larger than a preset acceleration threshold value, generating the following information according to the distance deviation between the longitudinal distance and the preset longitudinal distance and the acceleration deviation between the acceleration and the preset acceleration threshold value.

In the above embodiment, in one case, the collision time between two associated vehicles in the target area is less than the preset collision time threshold, indicating that the two associated vehicles are at risk of collision; in another case, a longitudinal distance between two associated vehicles within the target area that is less than a preset longitudinal distance threshold indicates that the two associated vehicles are close enough, and an acceleration of the target associated vehicle that is greater than a preset acceleration threshold indicates that the target associated vehicle speed is in a continuously increasing trend. In both cases, the target associated vehicle (the associated vehicle behind) may have a passing behavior, which requires a lane change to the current lane. The lane change behavior of the target associated vehicle is more fully predicted than if the lane change behavior were predicted solely by means of the steering signal.

In some exemplary embodiments, if the target area is an area directly in front of the target vehicle in a current lane, the braking information is determined by:

acquiring a tail image of the target associated vehicle;

if a first partial image representing a braking signal is detected in the tail image, generating braking information according to the first partial image;

if the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane, determining the steering information by:

acquiring a tail image of the target associated vehicle;

and if a second local image representing a steering signal is detected in the tail image, generating steering information according to the second local image.

In the embodiment, whether the target vehicle has the braking intention or the steering intention is determined through the tail image of the target vehicle, and when the braking intention or the steering intention exists, corresponding braking information or steering information which can trigger the target vehicle to decelerate is generated. The braking intention and the steering intention of the target vehicle are accurately determined.

In some exemplary embodiments, after the determining that at least one target area of an associated vehicle exists, the method further comprises:

and if the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane, a lane line at the junction of the lane where the target associated vehicle is located and the current lane is a reference lane line representing that lane changing is not allowed, and light prompt information of the target associated vehicle is not detected, controlling the target vehicle to run according to the current speed.

According to the embodiment, when the lane line at the junction of the lane where the target associated vehicle is located and the current lane is the reference lane line representing that lane changing is not allowed, and the light prompt information of the target associated vehicle is not detected to represent that the target vehicle normally runs, at the moment, the target vehicle does not need to be decelerated, and only can run at the current speed, so that safety is guaranteed, and meanwhile, driving experience is improved.

In a second aspect, an embodiment of the present application provides a vehicle travel control apparatus including:

a zone determination module to determine that at least one target zone exists for an associated vehicle;

the target speed determining module is used for determining a target speed according to a target time threshold, the speed of the target associated vehicle and the longitudinal distance between the associated vehicle and the target vehicle if the driving intention information of the associated vehicle in the target area is detected and the collision time between the associated vehicle and the target vehicle in the target area is smaller than a preset collision time threshold aiming at any one target area; the target associated vehicle is an associated vehicle which is closest to the target vehicle in the target area, and the target time threshold is larger than the preset collision time threshold;

the first speed control module is used for controlling the target vehicle to run according to the minimum value of the target speed corresponding to each target area;

if the target area is an area right in front of the target vehicle in the current lane, the driving intention information comprises brake information; or

Optionally, the apparatus is used to implement the first aspect or any one of the possible implementation methods of the first aspect.

In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of any one of the methods when executing the computer program.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored, which when executed by a processor implement the steps of any one of the above methods.

In a fifth aspect, an embodiment of the present application provides a computer program product comprising a computer program that, when executed by a processor, performs the steps of any of the methods as provided in the first aspect of the present application.

In a sixth aspect, an embodiment of the present application provides a chip, which includes a processor, and the processor is configured to implement the steps of any one of the methods described above when executing computer program instructions.

Optionally, the system further comprises a memory, on which computer program instructions executable on the processor are stored.

Optionally, the vehicle tracking system further comprises a transceiver for receiving travel intention information of the associated vehicle in the target area.

Drawings

Fig. 1 is a schematic view of an application scenario of a vehicle driving control method according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a vehicle driving control method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of braking behavior detection according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram of a steering behavior detection according to an embodiment of the present application;

FIG. 5 is a schematic illustration of another steering behavior detection provided by an embodiment of the present application;

FIG. 6 is a schematic illustration of another steering behavior detection provided by an embodiment of the present application;

fig. 7 is a schematic structural diagram of a vehicle travel control device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

Any number of elements in the drawings are by way of example and not by way of limitation, and any nomenclature is used solely for differentiation and not by way of limitation.

The automatic driving system of the automatic driving vehicle can help a driver to autonomously control a steering wheel, a brake, a gear, an accelerator and acousto-optic driving the vehicle under a specific condition, so that the fatigue of the driver is relieved, accidents caused by distraction, untimely response and the like of the driver are reduced, and the driving comfort and safety are improved. The automatic driving system can directly replace a driver in the future, realize completely unmanned automatic driving, greatly reduce the labor cost of enterprises, relieve traffic pressure, improve the traveling efficiency of people and greatly reduce the accident rate of the whole traffic.

An autopilot system is generally composed of modules such as sensing, planning, control, decision-making, maps, and the like. When the automatic driving vehicle autonomously runs on a road, the automatic driving system needs to autonomously judge when to brake, decelerate, accelerate, change lanes, avoid and the like according to the surrounding environment, and at the moment, the automatic driving system needs to accurately judge the surrounding environment. Only if the surrounding environment is accurately identified can a correct decision be made. And for the expressway and the urban area road, vehicles on the road account for a large environmental proportion. Therefore, it is very important to accurately recognize the driving intention of the surrounding vehicle in order to allow the user to experience the automatic driving function safely and comfortably on the expressway and the urban area road.

The current decision module generally judges whether to execute operations such as braking, deceleration, acceleration, lane change, avoidance and the like according to the relative position relationship between the surrounding vehicle and the own vehicle, and basically ignores the important information of possible motion behaviors of the surrounding vehicle at the next moment. This information may generally include the status of the turn signal lights of the surrounding vehicles, the status of the brake lights, the prediction of the driving track of the surrounding vehicles, the position relationship between the surrounding vehicles and the surrounding vehicles, etc., and if the intention of the surrounding vehicles at the next moment cannot be accurately predicted, when the surrounding vehicles suddenly change the way, a great safety hazard is caused, and a great amount of unnecessary loss of fuel consumption or power consumption of the vehicles is also caused.

For this purpose, the application provides a vehicle running control method, which comprises the steps of firstly determining at least one target area where a related vehicle exists (a region right in front of the target vehicle, a region left in front of the target vehicle in a left lane or a region right in front of the target vehicle in a right lane), then aiming at any one target area where the related vehicle exists, if the running intention information (braking information, steering information, swaying information or following information) of the related vehicle in the target area is detected, and the collision time between the target related vehicle closest to the target vehicle and the target vehicle is smaller than a preset collision time threshold value, determining the target speed according to the target time threshold value, the speed of the target related vehicle and the longitudinal distance between the target related vehicle and the target vehicle. The target time threshold is greater than the preset collision time threshold, so that the target speed is less than the speed of the target vehicle, the target vehicle is controlled to run according to the minimum value of each target speed, and the target vehicle can be controlled to decelerate before the associated vehicle executes the operation corresponding to the running intention, so that the potential safety hazard is reduced, and the oil consumption or the power consumption is reduced.

Some brief descriptions are given below to application scenarios to which the technical solution of the embodiment of the present application can be applied, and it should be noted that the application scenarios described below are only used for describing the embodiment of the present application and are not limited. In specific implementation, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.

Fig. 1 is a schematic view of an application scenario of a vehicle driving control method according to an embodiment of the present application. In the area around the target vehicle, there are two target areas where the associated vehicle exists, one of the two target areas is an area right ahead, and the other is an area left ahead, and assuming that the target associated vehicle 1 in the area right ahead has a brake signal and the target associated vehicle 2 in the area left ahead has a right steering signal, the two target speeds can be determined by applying the method in the above embodiment, and the target vehicle can be controlled in advance to travel according to the minimum value of the two target speeds. On one hand, the driving safety is improved, and on the other hand, unnecessary oil consumption or power consumption caused by sudden deceleration of the target vehicle due to sudden braking or lane change of the target related vehicle is reduced.

Certainly, the method provided in the embodiment of the present application is not limited to be used in the application scenario shown in fig. 1, and may also be used in other possible application scenarios, and the embodiment of the present application is not limited. The functions that can be implemented by each device in the application scenario shown in fig. 1 will be described in the following method embodiments, and will not be described in detail herein.

To further illustrate the technical solutions provided by the embodiments of the present application, the following detailed description is made with reference to the accompanying drawings and the detailed description. Although the embodiments of the present application provide method operation steps as shown in the following embodiments or figures, more or fewer operation steps may be included in the method based on conventional or non-inventive labor. In steps where no necessary causal relationship exists logically, the order of execution of the steps is not limited to that provided by the embodiments of the present application.

The following describes the technical solution provided in the embodiment of the present application with reference to the application scenario shown in fig. 1.

Referring to fig. 2, an embodiment of the present application provides a vehicle travel control method, including the steps of:

s201, determining at least one target area where the associated vehicle exists.

S202, aiming at any one target area, if the driving intention information of the associated vehicle in the target area is detected, and the collision time between the target associated vehicle and the target vehicle in the target area is smaller than a preset collision time threshold, determining the target speed according to the target time threshold, the speed of the target associated vehicle and the longitudinal distance between the target associated vehicle and the target vehicle; the target associated vehicle is the associated vehicle closest to the target vehicle in the target area, and the target time threshold is larger than the preset collision time threshold.

If the target area is a left front area of the target vehicle in the left lane or a right front area of the target vehicle in the right lane, the driving intention information includes at least one of steering information, sway information, and following information; the sway information is determined according to a relationship between the lateral velocity of the associated vehicle within the target area and a preset lateral velocity threshold; the following information is determined according to the collision time between two associated vehicles in the target area, or the following information is determined according to the longitudinal distance between the two associated vehicles in the target area and the acceleration of the target associated vehicle; the two associated vehicles are a target associated vehicle and a reference associated vehicle, and the reference associated vehicle is the associated vehicle which is closest to the target associated vehicle in the target area.

And S203, controlling the target vehicle to run according to the minimum value of the target speed corresponding to each target area.

In the embodiment of the application, aiming at any one target area with the associated vehicle, the driving intention information (braking information, steering information, swing information or following information) of the associated vehicle in the target area is detected, and the driving intention information is usually related to the type of the target area, for example, when the target area is an area right ahead, the braking information represents that the driving intention of the associated vehicle is braking; and when the target area is a left front area or a right front area, the steering information, the swing information or the following information represent the driving intention of the associated vehicle and are lane changes. The sway information is determined according to the lateral velocity (the adjusted sway degree) of the target associated vehicle (the associated vehicle closest to the target vehicle), and the following information is determined according to the time of collision between the front and rear associated vehicles, or the longitudinal distance and the acceleration of the target associated vehicle, in both cases, the target associated vehicle has a tendency to change lanes and overtake. Therefore, the predicted target through the conditions is related to the braking or lane-changing behavior of the vehicle, and the target is accurate and comprehensive. In this way, when the travel intention information of the associated vehicle in the target area is detected, indicating that the target associated vehicle has a corresponding travel intention, if the collision time between the target associated vehicle and the target vehicle in the target area is less than the preset collision time threshold, a risk of collision between the target vehicle and the target associated vehicle may be caused. In addition, the target time threshold is larger than the preset collision time threshold, and the determined target speed is smaller than the speed of the target vehicle, so that the target vehicle is controlled to decelerate according to the target speed in advance before the behavior corresponding to the driving intention of the target associated vehicle occurs, the safety risk is reduced, and unnecessary oil consumption or power consumption caused by sudden braking or lane change of the target associated vehicle due to sudden braking of the target associated vehicle is reduced.

For convenience of description, the target vehicle for the host vehicle and the related vehicles around the host vehicle are represented by at least one related vehicle in S201. Since the application scenario of the present application is to predict the driving intention of the surrounding vehicles in advance, that is, the vehicle ahead of the current lane suddenly brakes or the vehicles on both sides of the adjacent lane suddenly change lanes to the own lane, etc., the target area may include an area directly ahead of the target vehicle in the current lane, an area left ahead of the target vehicle in the left lane, or an area right ahead of the target vehicle in the right lane. Taking the left front area as an example, the left front area is, for example, an area longitudinally forward of, for example, 20 meters from the position of the head of the target vehicle, and a vehicle having an overlap with the body of the target vehicle may be determined as an associated vehicle in the left rear area, which is only an example and is not a specific limitation.

In the embodiment of the application, at least one target area with associated vehicles is determined to exist, wherein in each determined target area, at least one associated vehicle exists. If two or more associated vehicles are included in one target area, the associated vehicle which directly influences the driving decision of the target vehicle is the associated vehicle closest to the target vehicle.

Referring to S202, for any one target area, if the driving intention information of the associated vehicle in the target area is detected, it indicates that the associated vehicle affects the driving behavior of the target vehicle, at this time, if the collision time between the target associated vehicle in the target area and the target vehicle is less than the preset collision time threshold, it indicates that the target associated vehicle may collide with the target vehicle if the target associated vehicle continues to run according to the driving intention represented by the driving intention information, and there is a safety risk. Therefore, it is necessary to control the deceleration of the target vehicle to reduce the potential safety hazard.

Specifically, the collision time between the target-associated vehicle and the target vehicle may be determined by: determining the time to collision between the target vehicle and the target associated vehicle according to the speed difference between the target vehicle and the target associated vehicle and the longitudinal distance between the target vehicle and the target associated vehicle.

In one particular example, the time to collision between the target vehicle and the target-associated vehicle is determined by the following equation:

wherein, TTC₀Indicating the time of collision, D, between the target vehicle and the target-associated vehicle in this example₀Indicates the longitudinal distance, V, between the target vehicle and the target associated vehicle in this example_mIndicates the speed, V, of the target vehicle in this example_g1Representing the speed of the target associated vehicle in this example.

Determining a time to collision TTC of a target vehicle with a target associated vehicle₀Then, if TTC₀Less than a preset time-to-collision threshold TTC, that is,

it is indicated that the target-related vehicle may possibly collide if the vehicle continues to travel in accordance with the travel intention characterized by the travel intention information.

In this case, the target speed after deceleration can be determined as follows: determining a target speed according to the target time threshold, the speed of the target associated vehicle, and the longitudinal distance between the associated vehicle and the target vehicle; wherein the target time threshold is greater than a preset time-to-collision threshold. Because the target time threshold is greater than the preset collision time threshold, the determined target speed is less than the speed of the target vehicle, so that the aim of reducing the speed of the target vehicle is fulfilled, and potential safety hazards are reduced.

In one specific example, the target time threshold may bePredetermined, the determination principle may be to add a set time difference based on the preset time-to-collision threshold, or to multiply the preset time-to-collision threshold by a set proportionality coefficient greater than 1. If the preset collision time threshold is TTC, the target time threshold TTC_mMay be 1.5TTC or TTC + T. The target speed may specifically be determined by the following formula: according to

The target speed is obtained by reverse deduction:

wherein, V_mmIndicates the target speed, D, of the target vehicle in this example₀Indicates the longitudinal distance, V, between the target vehicle and the target associated vehicle in this example_g1Representing the speed of the target associated vehicle in this example. Thus, the larger the target time threshold, the smaller the determined target speed.

In the above description, for any one target area, in an actual application process, if it is determined that there are a plurality of target areas of the associated vehicle, each target area may obtain one target speed, and a plurality of target speeds obtained by the plurality of target areas may form a target speed set, for example, if there are 3 target areas, the target speed set includes 3 target speeds.

In S203, in order to improve driving safety, when a plurality of target areas in which the associated vehicle is present are determined, the target vehicle is controlled to travel at the minimum target speed in the set of target speeds.

In a specific example, the values of the 3 target speeds in the set of target speeds are 45km/h, 50km/h and 48km/h, respectively. Thus, the control target vehicle travels at 45 km/h.

In addition, if the traveling intention information of the associated vehicle in any one of the target areas is not detected, which indicates that the associated vehicle does not suddenly decelerate or change lanes, the target vehicle does not need to decelerate, and the target vehicle is controlled to travel at the current speed.

Or, for any one target area, the travel intention information of the associated vehicle in the target area is detected, but the collision time between the target associated vehicle in the target area and the target vehicle is not less than a preset collision time threshold value, which indicates that the associated vehicle has the possibility of sudden lane change or deceleration, but the collision time between the target associated vehicle closest to the target vehicle and the target vehicle indicates that no collision risk exists, the target vehicle does not need to decelerate, and the target vehicle is controlled to travel at the current speed.

For example, in order to distinguish the travel intention information of different target areas, the travel intention information will be described in the following cases:

A. if the target area is an area directly in front of the target vehicle in the current lane, the driving intention information includes braking information.

In this case, a rear image of the target-associated vehicle is acquired first, and if a first partial image representing a braking signal is detected in the rear image, braking information is generated from the first partial image.

The tail of the target associated vehicle can be shot through a camera of the target vehicle, whether a first local image such as a brake lamp pattern exists in the tail image is detected, if the brake lamp pattern exists, the brake lamp of the target associated vehicle is indicated to be turned on, then the generation of brake information can be triggered, and the brake information can be used as a control signal for controlling the target vehicle to decelerate when a collision risk exists.

Referring to fig. 3, a schematic diagram of a braking behavior detection is shown, wherein the target vehicle is controlled to decelerate when there is a braking signal from a target associated vehicle in the immediate front area, the braking signal not being shown in fig. 3.

According to the embodiment, whether the target vehicle has the braking intention or not is determined through the tail image of the target vehicle, and when the braking intention exists, corresponding braking information capable of triggering the target vehicle to decelerate is generated. And accurately determining the braking intention of the target vehicle.

B. The driving intention information includes at least one of steering information, sway information, and following information if the target area is an area left ahead of the target vehicle in the left lane or an area right ahead of the target vehicle in the right lane.

Since the left front area and the right front area are the same, one of them can be selected for explanation.

B1, the driving intention information is steering information.

In this case, a rear image of the target-associated vehicle is acquired first, and if a second partial image representing a turn signal is detected in the rear image, braking information is generated from the second partial image.

The tail of the target associated vehicle can be shot through a camera of the target vehicle, whether a second local image such as a steering lamp pattern exists in the tail image or not is detected, if the steering lamp pattern exists, the steering lamp of the target associated vehicle is indicated to be turned on, at the moment, the generation of steering information can be triggered, and the braking information can be used as a control signal for controlling the target vehicle to decelerate when the collision risk exists.

In addition, in combination with the actual driving situation, if the target area is the front left area, the turn signal is a right turn signal, and the corresponding turn light pattern is a right turn light pattern; if the target area is the front right area, the turn signal is a left turn signal, and the corresponding turn light pattern is a left turn pattern. Whether the left or right turn pattern is determined by the position of the turn light pattern in the tail image.

Referring to fig. 4, a schematic diagram of a steering behavior detection is shown, wherein, taking a left lane as an example, when a target-associated vehicle in a left front area of the left lane has a right steering signal, the target vehicle is controlled to decelerate, and the right steering signal is not shown in fig. 4.

In the embodiment, whether the target vehicle has the steering intention or not is determined through the tail image of the target vehicle, and when the steering intention exists, corresponding steering information which can trigger the target vehicle to decelerate is generated. The steering intention of the target vehicle is accurately determined.

B2, the driving intention information is sway information.

Wherein the sway information is determined from a relationship of a lateral velocity of an associated vehicle within the target area and a preset lateral velocity threshold.

In this case, the speed information of the target associated vehicle within the target area is acquired first, and then the lateral speed of the target associated vehicle is determined according to the lateral component in the speed information; and if the transverse speed is greater than the preset transverse speed threshold, generating swing information according to the speed deviation between the transverse speed and the preset speed threshold.

In a specific example, the speed information of the target-associated vehicle may be obtained by a millimeter wave radar or a laser radar of the target vehicle, and the speed information includes a transverse component and a longitudinal component, where the transverse component represents a speed of the vehicle in a transverse direction, that is, whether the vehicle body shakes left and right; the longitudinal component is indicative of the speed of the vehicle in the longitudinal direction, i.e. how fast the body is advancing. Furthermore, according to the lateral speed characteristic, when the lateral speed is greater than a preset lateral speed threshold (a preset small number or zero), and when the deviation between the lateral speed and the preset speed threshold is greater than a preset speed deviation threshold, the vehicle body is indicated to swing too much, and the possibility of lane change exists, at this time, the generation of the swing information can be triggered, and the swing information can be used as a control signal for controlling the target vehicle to decelerate when the collision risk exists. The wobble information may be a deviation value of the lateral velocity from a predetermined velocity threshold, or other values related to the deviation value. If the vehicle body shakes left and right, whether a steering signal of the target associated vehicle is detected or not, the target associated vehicle can suddenly change the lane to cause danger, and the vehicle body shake is used as a prediction index for predicting the lane change of the target associated vehicle.

Referring to fig. 5, a schematic diagram of another steering behavior detection is shown, wherein, taking a left lane as an example, if an object-related vehicle in a left front area of the left lane has abnormal rolling behavior, it is considered that the object-related vehicle may change lanes, and the object-related vehicle is controlled to decelerate, and a curve 51 of the left lane in fig. 5 is a schematic partial driving trajectory curve of the object-related vehicle.

B3, the driving intention information is car following information.

Wherein the following information is determined based on a time to collision between two associated vehicles within the target area, or the following information is determined based on a longitudinal distance between two associated vehicles within the target area and an acceleration of the target associated vehicle.

In this case, meeting any one of the conditions may determine the following information:

condition 1: and if the collision time between two associated vehicles in the target area is greater than a preset collision time threshold value, generating vehicle following information according to the time deviation between the collision time and the preset collision time.

Wherein the two associated vehicles are respectively a reference associated vehicle (referred to as vehicle 1) and a target associated vehicle (referred to as vehicle 2) and, if the time of collision between the two associated vehicles is less than a preset time of collision threshold, it is indicated that the target associated vehicle is likely to make a lane change and overtaking, and the lane change overtaking operation may affect the driving strategy of the target vehicle. In this case, generation of the following information may be triggered, and the following information may be used as a control signal for controlling deceleration of the target vehicle when there is a risk of collision. In this example, the following information is, for example, a time deviation of the collision time from a preset collision time or information associated with the time deviation.

In addition, the determination manner of the collision time between two associated vehicles may refer to the determination manner of the collision time between the target associated vehicle and the target vehicle, which is not described herein again.

Referring to fig. 6, a schematic diagram of another steering behavior detection is shown, in which, taking the right lane as an example, two associated vehicles are present in the right front area of the right lane, reference associated vehicle (vehicle 1) and target associated vehicle: (2 vehicles). When the time to collision TTC between two associated vehicles₂And when the collision time is less than a preset collision time threshold value TTC (2 vehicles have lane change intentions), triggering to generate the following information. And controlling the target vehicle to decelerate when the time of collision between the target vehicle and the target-associated vehicle is less than a preset time-to-collision threshold TTC (collision risk).

Condition 2: and if the longitudinal distance between the two associated vehicles in the target area is smaller than a preset longitudinal distance threshold value and the acceleration of the target associated vehicle is larger than a preset acceleration threshold value, generating vehicle following information according to the distance deviation between the longitudinal distance and the preset longitudinal distance and the acceleration deviation between the acceleration and the preset acceleration threshold value.

Wherein, the longitudinal distance between two associated vehicles in the target area is smaller than a preset longitudinal distance threshold value, which indicates that the two associated vehicles are close enough; the acceleration of the target associated vehicle is greater than the preset acceleration threshold, indicating that the target associated vehicle is in a continuous acceleration state. Thus, it is indicated that the target associated vehicle may be about to change lane to overtake, which may affect the driving strategy of the target vehicle. In this case, generation of following information may be triggered, and the following information may be used as a control signal for controlling deceleration of the target vehicle when there is a risk of collision. In this example, the following information is, for example, a time deviation of the collision time from a preset collision time or information associated with the time deviation.

In the above embodiment, in one case, the collision time between two associated vehicles in the target area is less than the preset collision time threshold, indicating that the two associated vehicles are at risk of collision; in another case, a longitudinal distance between two associated vehicles within the target area being less than a preset longitudinal distance threshold indicates that the two associated vehicles are sufficiently close, and an acceleration of the target associated vehicle being greater than a preset acceleration threshold indicates that the target associated vehicle speed is in a continuously increasing trend. In both cases, the target associated vehicle (the associated vehicle behind) may have a passing behavior, which requires a lane change to the current lane. The lane change behavior of the target associated vehicle is more fully predicted than if the lane change behavior were predicted solely by means of the steering signal.

It should be noted that the driving safety is the most important factor in the driving process of the vehicle, and therefore, the above embodiment does not limit the behavior that the lane change does not occur in the case where the traffic regulation stipulates that the lane change is not allowed.

In order to make the technical solution of the present application more complete, on the basis of the above technical solution, in the embodiment of the present application, after it is determined that at least one target area of the associated vehicle exists, there is also a case where another control target vehicle travels (does not decelerate) at the current speed. This will be explained next:

specifically, if the target area is a left front area of the target vehicle in the left lane or a right front area of the target vehicle in the right lane, a lane line at a junction of the lane where the target associated vehicle is located and the current lane is a reference lane line representing that lane changing is not allowed, and light prompt information of the target associated vehicle is not detected, the target vehicle is controlled to run at the current speed.

The reference lane line is, for example, a white solid line or a double yellow line, that is, a lane line that is not allowed to change lanes according to traffic regulations. At this time, if the light prompt information of the target-related vehicle, such as prompt information corresponding to behaviors of whistling, flashing or alternating high and low lights and the like, is not detected, it indicates that the target-related vehicle is running normally (no fault occurs), the target vehicle does not need to be decelerated, and the vehicle can run at a normal speed.

According to the embodiment, when the lane line of the boundary between the lane where the target associated vehicle is located and the current lane is the reference lane line representing that lane changing is not allowed, and the light prompt information of the target associated vehicle is not detected to represent that the target vehicle normally runs, at the moment, the target vehicle does not need to be decelerated, and only can run at the current speed, so that safety is guaranteed, and driving experience is improved.

In an actual application process, a map module of the automatic driving system acquires road condition information within a certain range in real time, for example, acquires real-time road condition information within 2km ahead, judges whether a curve or a traffic jam exists in the front according to the road condition information, and if the curve or the traffic jam exists, determines a target speed according to the length and the radian of the curve and/or determines another target speed according to the length of the traffic jam and controls the target vehicle to decelerate according to the smaller target speed of the curve and the traffic jam. It is not necessary to determine whether deceleration is required based on the time of collision.

Or, judging whether there is no curve or no traffic jam in front or no need to enter a ramp according to the road condition information, determining the target speed corresponding to each target area by applying the method in the above embodiment, and controlling the target vehicle to run according to the minimum value of each target speed.

Alternatively, in the case where there is a curve or a traffic jam, the case where the deceleration of the target vehicle is required in the above embodiment occurs at the same time, and the target vehicle may be controlled to travel at the determined minimum value of each target speed by combining the two cases.

As shown in fig. 7, based on the same inventive concept as the vehicle travel control method described above, the embodiment of the present application also provides a vehicle travel control apparatus that includes a zone determination module 71, a target speed determination module 72, and a first speed control module 73.

A zone determination module 71 for determining the presence of at least one target zone of an associated vehicle;

a target speed determination module 72, configured to determine, for any one target area, a target speed according to a target time threshold, a speed of a target associated vehicle, and a longitudinal distance between the target associated vehicle and a target vehicle if travel intention information of the associated vehicle in the target area is detected and a collision time between the target associated vehicle and the target vehicle in the target area is smaller than a preset collision time threshold; the target associated vehicle is the associated vehicle which is closest to the target vehicle in the target area, and the target time threshold is larger than the preset collision time threshold;

a first speed control module 73 for controlling the target vehicle to travel according to the minimum value of the target speed corresponding to each target area;

In some exemplary embodiments, the system further comprises a collision time determination module for determining a collision time between the target vehicle and the target associated vehicle by:

determining the collision time between the target vehicle and the target associated vehicle according to the speed difference between the target vehicle and the target associated vehicle and the longitudinal distance between the target vehicle and the target associated vehicle;

In some exemplary embodiments, the method further comprises determining the sway information by, when the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane:

acquiring speed information of a target associated vehicle in a target area;

and if the transverse speed is greater than the preset transverse speed threshold, generating swing information according to the speed deviation between the transverse speed and the preset speed threshold.

In some exemplary embodiments, the following information determining module is further included for generating the following information when the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane by:

if the collision time between two associated vehicles in the target area is smaller than a preset collision time threshold value, generating vehicle following information according to the time deviation between the collision time and the preset collision time; or

If the longitudinal distance between two associated vehicles in the target area is smaller than a preset longitudinal distance threshold value, and the acceleration of the target associated vehicle is larger than a preset acceleration threshold value, generating following information according to the distance deviation between the longitudinal distance and the preset longitudinal distance and the acceleration deviation between the acceleration and the preset acceleration threshold value.

In some exemplary embodiments, the method further comprises determining braking information by:

acquiring a tail image of a target associated vehicle;

the braking information determination module is further configured to determine braking information when the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane by:

acquiring a tail image of a target associated vehicle;

if a second partial image representing the steering signal is detected in the tail image, steering information is generated according to the second partial image.

In some exemplary embodiments, a second speed control module is further included for, after determining that at least one target zone of an associated vehicle exists:

and if the target area is the left front area of the target vehicle in the left lane or the right front area of the target vehicle in the right lane, the lane line at the junction of the lane where the target associated vehicle is located and the current lane is a reference lane line representing that lane changing is not allowed, and the light prompt information of the target associated vehicle is not detected, controlling the target vehicle to run according to the current speed.

The vehicle running control device and the vehicle running control method provided by the embodiment of the application adopt the same inventive concept, can obtain the same beneficial effects, and are not repeated herein.

Having described the vehicle travel control method and apparatus according to the exemplary embodiment of the present application, next, an electronic device according to another exemplary embodiment of the present application will be described.

As will be appreciated by one skilled in the art, aspects of the present application may be embodied as a system, method or program product. Accordingly, various aspects of the present application may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.

In some possible implementations, an electronic device according to the present application may include at least one processor, and at least one memory. Wherein the memory stores program code which, when executed by the processor, causes the processor to perform the steps in the vehicle travel control method according to various exemplary embodiments of the present application described above in this specification. For example, the processor may execute steps as in a vehicle travel control method.

The electronic device 130 according to this embodiment of the present application is described below with reference to fig. 8. The electronic device 130 shown in fig. 8 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. 8, the electronic device 130 is represented in the form of a general electronic device. The components of the electronic device 130 may include, but are not limited to: the at least one processor 131, the at least one memory 132, and a bus 133 that connects the various system components (including the memory 132 and the processor 131).

Bus 133 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, or a local bus using any of a variety of bus architectures.

The memory 132 may include readable media in the form of volatile memory, such as Random Access Memory (RAM)1321 and/or cache memory 1322, and may further include Read Only Memory (ROM) 1323.

Memory 132 may also include a program/utility 1325 having a set (at least one) of program modules 1324, such program modules 1324 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

The electronic device 130 may also communicate with one or more external devices 134 (e.g., keyboard, pointing device, etc.), with one or more devices that enable a user to interact with the electronic device 130, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 130 to communicate with one or more other electronic devices. Such communication may occur via input/output (I/O) interfaces 135. Also, the electronic device 130 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 136. As shown, the network adapter 136 communicates with other modules for the electronic device 130 over the bus 133. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 130, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

In an exemplary embodiment, a computer-readable storage medium comprising instructions, such as the memory 132 comprising instructions, executable by the processor 131 to perform the above-described method is also provided. Alternatively, the computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

In an exemplary embodiment, there is also provided a computer program product comprising computer programs/instructions which, when executed by the processor 131, implement any of the methods of vehicle travel control as provided herein.

In exemplary embodiments, various aspects of a vehicle running control method provided herein may also be embodied in the form of a program product including program code for causing a computer device to perform the steps of a vehicle running control method according to various exemplary embodiments of the present application described above in this specification when the program product is run on the computer device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A 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 readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The program product for image scaling of embodiments of the present application may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on an electronic device. However, the program product of the present application is not limited thereto, and in this document, a 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 readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a 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 readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, 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 consumer electronic device, partly on the consumer electronic device, as a stand-alone software package, partly on the consumer electronic device and partly on a remote electronic device, or entirely on the remote electronic device or server. In the case of remote electronic devices, the remote electronic devices may be connected to the consumer electronic device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to external electronic devices (e.g., through the internet using an internet service provider).

In an exemplary embodiment, there is also provided a chip comprising a processor for implementing the steps of any of the methods described above when executing computer program instructions. Optionally, a memory is included, having stored thereon computer program instructions executable on the processor. Optionally, the vehicle monitoring system further comprises a transceiver for receiving travel intention information of associated vehicles in the target area.

It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, such division is merely exemplary and not mandatory. Indeed, the features and functions of two or more units described above may be embodied in one unit, according to embodiments of the application. Conversely, the features and functions of one unit described above may be further divided into embodiments by a plurality of units.

Further, while the operations of the methods of the present application are depicted in the drawings in a particular order, this does not require or imply that these operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable image scaling apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable image scaling apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable image scaling apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable image scaling device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer implemented process such that the instructions which execute on the computer or other programmable device provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While the preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the present application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A vehicle travel control method characterized by comprising:

determining that at least one target area exists for the associated vehicle;

for any target area, if the driving intention information of the associated vehicle in the target area is detected, and the collision time between the target associated vehicle and the target vehicle in the target area is smaller than a preset collision time threshold, determining a target speed according to the target time threshold, the speed of the target associated vehicle and the longitudinal distance between the target associated vehicle and the target vehicle; the target associated vehicle is an associated vehicle which is closest to the target vehicle in the target area, and the target time threshold is larger than the preset collision time threshold;

If the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane, the driving intention information includes at least one of steering information, sway information, and following information; the sway information is determined according to a relation between the lateral speed of the target-associated vehicle in the target area and a preset lateral speed threshold; the following information is determined according to the collision time between two associated vehicles in the target area, or the following information is determined according to the longitudinal distance between the two associated vehicles in the target area and the acceleration of the target associated vehicle; the two associated vehicles are the target associated vehicle and a reference associated vehicle, and the reference associated vehicle is the associated vehicle which is closest to the target associated vehicle in the target area.

2. The method of claim 1, wherein the time to collision between the target vehicle and the target associated vehicle is determined by:

3. The method of claim 1, wherein if the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane, determining the sway information by:

4. The method according to claim 1, wherein if the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane, the following information is generated by:

If the longitudinal distance between two associated vehicles in the target area is smaller than the preset longitudinal distance threshold value, and the acceleration of the target associated vehicle is larger than a preset acceleration threshold value, generating the following information according to the distance deviation between the longitudinal distance and the preset longitudinal distance, and the acceleration deviation between the acceleration and the preset acceleration threshold value.

5. The method according to claim 1, wherein if the target area is an area directly in front of the target vehicle in a current lane, the braking information is determined by:

acquiring a tail image of the target associated vehicle;

6. The method according to any one of claims 1 to 5, wherein after said determining that at least one target area of an associated vehicle exists, the method further comprises:

7. A vehicle travel control device characterized by comprising:

the target speed determination module is used for determining a target speed according to a target time threshold, the speed of the target associated vehicle and the longitudinal distance between the target associated vehicle and the target vehicle if the driving intention information of the associated vehicle in the target area is detected and the collision time between the target associated vehicle and the target vehicle in the target area is smaller than a preset collision time threshold aiming at any target area; the target associated vehicle is an associated vehicle which is closest to the target vehicle in the target area, and the target time threshold is larger than the preset collision time threshold;

If the target area is a left front area of the target vehicle in a left lane or a right front area of the target vehicle in a right lane, the driving intention information includes at least one of steering information, sway information, and following information; the sway information is determined according to a relationship between a lateral speed of the associated vehicle within the target area and a preset lateral speed threshold; the following information is determined according to the collision time between two associated vehicles in the target area, or the following information is determined according to the longitudinal distance between two associated vehicles in the target area and the acceleration of the target associated vehicle; the two associated vehicles are the target associated vehicle and a reference associated vehicle, and the reference associated vehicle is the associated vehicle which is closest to the target associated vehicle in the target area.

8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 6 are implemented when the computer program is executed by the processor.

9. A computer-readable storage medium on which computer program instructions are stored, which computer program instructions, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that the computer program realizes the method of any one of claims 1 to 6 when executed by a processor.