CN115547101A - Vehicle avoiding method, device, equipment, medium and vehicle - Google Patents
Vehicle avoiding method, device, equipment, medium and vehicle Download PDFInfo
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- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The disclosure relates to a vehicle avoidance method, device, equipment and medium. The method comprises the following steps: acquiring images of vehicles running in parallel in two adjacent lanes; obtaining a relative position of the vehicle and the vehicle running in parallel in the image based on the image; when the parallel running vehicle is positioned in front of the running direction of the self vehicle, acquiring the longitudinal distance between the parallel running vehicle and the self vehicle; when the longitudinal distance is smaller than the preset longitudinal distance, the running speed of the self-vehicle is adjusted until the longitudinal distance between the self-vehicle and the parallel running vehicle is equal to or larger than the preset longitudinal distance, so that when a parallel area which causes oppression to the running of the self-vehicle exists in the front in the running process, the self-vehicle can be avoided in time, and the feeling of safety of a driver in using auxiliary driving is increased.
Description
Technical Field
The disclosure relates to the technical field of intelligent auxiliary driving, in particular to a vehicle avoidance method, device, equipment, medium and vehicle.
Background
Along with the rapid development of the automobile industry, vehicles on roads are more and more, and in the driving process, the situation that the vehicles run in parallel is often met, particularly when multiple vehicles run in front of the driver, a certain psychological oppression feeling can be caused to the driver, and at the moment, the driver can manually select to avoid an area causing the oppression feeling.
Disclosure of Invention
In order to solve the technical problem, the present disclosure provides a vehicle avoidance method, apparatus, device and medium.
A first aspect of the embodiments of the present disclosure provides a vehicle avoidance method, including: acquiring an image of at least one side of an adjacent lane; obtaining a relative position of a host vehicle and a parallel running vehicle in the image based on the image; acquiring a longitudinal distance between the parallel running vehicle and the own vehicle when the parallel running vehicle is located in front of the own vehicle running direction; and when the longitudinal distance is smaller than a preset longitudinal distance, adjusting the running speed of the self-vehicle until the longitudinal distance between the self-vehicle and the parallel running vehicle is equal to or larger than the preset longitudinal distance.
In another embodiment, the adjusting the driving speed of the host vehicle includes: acquiring images of a self vehicle and the parallel running vehicle within a preset time; acquiring the position variation of the parallel running vehicle and the self vehicle within the preset time based on the image within the preset time; determining the running speeds of the parallel running vehicle and the self vehicle according to the position variation and the preset time; and adjusting the running speed of the self vehicle to be smaller than the running speed of the parallel running vehicle.
In one embodiment, the adjusting the traveling speed of the own vehicle to be smaller than the traveling speed of the parallel traveling vehicle includes: comparing the traveling speeds of the parallel traveling vehicle and the own vehicle; and if the running speed of any one vehicle in the parallel running vehicles is less than or equal to the running speed of the own vehicle, adjusting the running speed of the own vehicle to be less than the running speed of any one vehicle.
In one embodiment, the acquiring an image of at least one side adjacent lane comprises: determining the curvature of the curve of the lane where the vehicle of the own vehicle and the adjacent lane is located based on the image; and when the curvature of the curve is smaller than the preset curvature of the curve, controlling the self-vehicle to continuously run at the current track central position.
In another embodiment, the vehicle avoidance method further includes: when the longitudinal distance is smaller than a preset longitudinal distance, acquiring a transverse distance between the self vehicle and the parallel running vehicle based on the image; comparing the transverse distance between the vehicle and the vehicle on the left lane with the transverse distance between the vehicle and the vehicle on the right lane; and controlling the self-vehicle to move to the side with the larger transverse distance according to the comparison result.
In one embodiment, the controlling the vehicle to move to the side having the large lateral distance includes: acquiring a transverse distance with a small distance according to the comparison result; and controlling the self-vehicle to move to the side with the large transverse distance based on the transverse distance with the small distance and the preset avoidance distance.
A second aspect of the embodiments of the present disclosure provides a vehicle avoidance apparatus including:
the image acquisition module is used for acquiring images of vehicles running in parallel in lanes on two adjacent sides;
a position determination module for obtaining a relative position of a self-vehicle and a vehicle running in parallel in the image based on the image;
a first determination module configured to acquire a longitudinal distance between the parallel running vehicle and the host vehicle when the parallel running vehicle is located ahead of the host vehicle in a running direction;
and the second judgment module is used for adjusting the running speed of the self-vehicle when the longitudinal distance is smaller than a preset longitudinal distance until the longitudinal distance between the self-vehicle and the parallel running vehicle is equal to or larger than the preset longitudinal distance.
In one embodiment, the vehicle avoidance apparatus is further configured to:
acquiring images of a self-vehicle and the parallel running vehicle within a preset time;
acquiring the position variation of the parallel running vehicle and the self vehicle within the preset time based on the image within the preset time;
determining the running speeds of the parallel running vehicle and the own vehicle according to the position variation and the preset time;
and adjusting the running speed of the self vehicle to be smaller than the running speed of the parallel running vehicle.
In one embodiment, the vehicle avoidance apparatus is further configured to:
comparing the traveling speeds of the parallel traveling vehicle and the own vehicle;
and if the running speed of any one vehicle in the parallel running vehicles is less than or equal to the running speed of the own vehicle, adjusting the running speed of the own vehicle to be less than the running speed of any one vehicle.
In one embodiment, the vehicle avoidance apparatus is further configured to:
determining a curvature of a curve of a lane in which the vehicle of the own vehicle and the vehicle of the adjacent lane are located based on the image;
and when the curvature of the curve is smaller than the preset curvature of the curve, controlling the self vehicle to continuously run at the current track center position.
In another embodiment, the vehicle avoidance apparatus is further configured to:
when the longitudinal distance is smaller than a preset longitudinal distance, acquiring a transverse distance between the self vehicle and the parallel running vehicle based on the image;
comparing a lateral distance between the host vehicle and a vehicle on a left lane with a lateral distance between the host vehicle and a vehicle on a right lane;
and controlling the self-vehicle to move to the side with the larger transverse distance according to the comparison result.
In one embodiment, the vehicle avoidance apparatus is further configured to:
acquiring a transverse distance with a small distance according to the comparison result;
and controlling the self-vehicle to move to one side with a large transverse distance based on the transverse distance with the small distance and a preset avoidance distance.
A third aspect of the embodiments of the present disclosure provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor may implement the method of the first aspect.
A fourth aspect of embodiments of the present disclosure provides a computer-readable storage medium having a computer program stored therein, which, when executed by a processor, the processor may implement the method of the first aspect described above.
A fifth aspect of the embodiments of the present disclosure provides a vehicle including the vehicle avoidance apparatus described above, and the vehicle avoidance method described above may be performed.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
according to the embodiment of the disclosure, by acquiring the images of the vehicles running in parallel in the lanes on two adjacent sides, acquiring the relative positions of the vehicles running in parallel according to the images, acquiring the longitudinal distance between the vehicles running in parallel and the longitudinal distance between the vehicles running in parallel when the vehicles running in parallel are positioned in front of the running direction of the vehicles, and adjusting the running speed of the vehicles when the longitudinal distance is smaller than the preset longitudinal distance until the longitudinal distance between the vehicles running in parallel is equal to or larger than the preset longitudinal distance, when a parallel area causing oppression to the vehicles running in front during the running process exists, avoidance can be timely performed, and the safety feeling of a driver during auxiliary driving is increased.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a vehicle avoidance method according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a speed adjustment method in a vehicle avoidance method according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a vehicle avoidance apparatus provided in the embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a computer device in the embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more complete and thorough understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order, and/or performed in parallel. Moreover, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "include" and variations thereof as used herein are open-ended, i.e., "including but not limited to". The term "based on" is "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the following description.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a" or "an" in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will appreciate that references to "one or more" are intended to be exemplary and not limiting unless the context clearly indicates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
In the field of the conventional vehicle auxiliary driving, the following problems often occur in the driving process of a vehicle;
when the vehicle uses intelligent driving assistance, an LKA (Lane Keeping Assist) system can control the vehicle to keep at a position where a Lane line is centered, however, in the driving process of the vehicle, if a plurality of vehicles run in parallel in front of the vehicle, an area which causes oppressive feeling to the driver can be formed, the area cannot be identified in the existing driving assistance system, psychological pressure is easily caused to the driver, traffic accidents are easily caused, namely, safety risks exist, and intelligent vehicle speed adjustment cannot be performed in the Lane so as to control the longitudinal distance between the vehicles.
In order to solve the above problem, the embodiments of the present disclosure provide a method, a device, and an apparatus for vehicle avoidance. The following describes a vehicle avoidance method according to an embodiment of the present disclosure with reference to fig. 1 and 2.
In the disclosed embodiment, the vehicle avoidance method can be executed by an electronic device. Among them, the electronic devices may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), wearable devices, and the like, and stationary terminals such as digital TVs, desktop computers, smart home devices, and the like.
In the embodiment of the disclosure, the environment information of the road where the vehicle is located is acquired through a positioning system or a vehicle-mounted imaging system of the vehicle, the radius information of the vehicle which is driven to is obtained according to the environment information, when the radius of the road where the vehicle is driven is greater than or equal to a first preset value, the vehicle is intelligently avoided when the auxiliary driving is started, and when the radius of the road where the vehicle is driven is less than a second preset value, even when the auxiliary driving is started, the vehicle which meets the avoidance condition exists in the adjacent Lane where the vehicle is driven does not perform the avoidance operation, and the vehicle can be continuously kept to be driven at the road central position according to an LKA (Lane departure aid) system in the auxiliary driving.
The first predetermined value may be set to be 800m of road radius, and the second predetermined value may be set to be 400m of road radius, which is not limited herein.
Fig. 1 shows a schematic flow chart of a vehicle avoidance method provided by an embodiment of the present disclosure.
As shown in fig. 1, the vehicle avoidance method may specifically include the following steps;
s100, images of vehicles running in parallel in two adjacent lanes are acquired.
In the embodiment of the disclosure, images around the vehicle can be acquired through the vehicle-mounted camera and the millimeter wave radar, and images of lanes on two adjacent sides are acquired.
The images of the lanes on two adjacent sides may include images of a road where the vehicle runs, that is, images of lane lines on the road, mark points on the lanes, and the like, images of vehicles running on the lanes, and images of stationary objects around the road, that is, images of green belts, obstacles, and the like, and the images of vehicles running in parallel in the lanes on two adjacent sides of the lane where the vehicle runs are extracted from the acquired images.
Specifically, the vehicle-mounted camera and the millimeter wave radar are subjected to time and space combined calibration, millimeter wave radar data are subjected to filtering and effective target extraction, the space and time alignment of the millimeter wave radar and the vehicle-mounted camera is realized, obstacle data acquired by the millimeter wave radar are projected into pixel coordinates of images acquired by the vehicle-mounted camera, and images of vehicles running in parallel in lanes on two adjacent sides are acquired.
Optionally, the curve curvature of the road on which the vehicle of the own vehicle and the vehicle of the adjacent lane travel is determined based on the image, the curve curvature is compared with a preset curve curvature, when the curve curvature is larger than the preset curve curvature, the road on which the vehicle of the own vehicle and the vehicle of the adjacent lane travel is indicated as a straight road, when the curve curvature is smaller than the preset curve curvature, the road on which the vehicle of the own vehicle and the vehicle of the adjacent lane travel is indicated as a curved road, and at this time, the auxiliary driving system controls the own vehicle to continue traveling at the center position of the currently traveling lane line, and the vehicle of the adjacent lane does not avoid.
For example, the preset curve curvature may be 400m, which is not limited herein.
Optionally, in the images of the periphery of the vehicle acquired by the vehicle-mounted camera and the millimeter wave radar, the time for acquiring the images of the vehicles running in parallel in the lanes on two adjacent sides is compared with the standard time, and when the acquisition time is longer than the standard time, it is indicated that the vehicles included in the images stably appear in the lanes adjacent to the vehicle.
And S200, acquiring the relative position of the self-vehicle and the parallel running vehicle in the image based on the image.
Illustratively, the relative position of the host vehicle and the parallel traveling vehicle is obtained from the relative position between the tail of the parallel traveling vehicle and the front bumper of the host vehicle in the image.
Alternatively, when the vehicle in the adjacent lane is parallel to the own vehicle, the running speed of the vehicle is calculated according to the position change condition of the vehicle in the adjacent lane and the preset time, and the running speed of the own vehicle is calculated according to the position change condition of the own vehicle and the preset time.
The vehicle in the adjacent lane and the vehicle in the adjacent lane may be in parallel, and in the driving process of the vehicle in the adjacent lane, the passing area is overlapped with the transverse area of the vehicle body of the vehicle, namely the transverse area between the front bumper and the tail of the vehicle is overlapped with the vehicle in the adjacent lane.
S300, when the parallel running vehicle is located in front of the running direction of the self vehicle, acquiring the longitudinal distance between the parallel running vehicle and the self vehicle.
For example, the parallel running vehicle located ahead of the own vehicle running direction may be the parallel running vehicle located ahead of the own vehicle front bumper with respect to the vehicle rear end, and when the parallel running vehicle is located ahead of the own vehicle running direction, the longitudinal distance between the parallel running vehicle and the own vehicle may be acquired by the millimeter wave radar.
The longitudinal distance is the front-back distance between the self-vehicle and the vehicle of the adjacent lane.
S400, when the longitudinal distance is smaller than a preset longitudinal distance, adjusting the running speed of the self-vehicle until the longitudinal distance between the self-vehicle and the parallel running vehicle is equal to or larger than the preset longitudinal distance.
In the embodiment of the disclosure, the longitudinal distance is compared with the preset longitudinal distance, and when the longitudinal distance is smaller than the preset longitudinal distance, the running speed of the self-vehicle is adjusted until the longitudinal distance between the self-vehicle and a pressing area formed by the parallel running vehicle is equal to or larger than the preset longitudinal distance.
When the longitudinal distance is larger than or equal to the preset longitudinal distance, the fact that a relatively safe distance is kept between the self-vehicle and the vehicle of the adjacent lane is shown, the oppressing area formed by the front parallel running vehicle does not cause oppression feeling to a driver, and the self-vehicle does not need to adjust the running speed.
When the longitudinal distance is smaller than the preset longitudinal distance, acquiring the transverse distance between the self-vehicle and the parallel running vehicle according to the image; comparing the transverse distance between the vehicle and the vehicle on the left lane with the transverse distance between the vehicle and the vehicle on the right lane; and controlling the self-vehicle to move to the side with the larger transverse distance according to the comparison result.
For example, when the longitudinal distance is smaller than the preset longitudinal distance, the relative position of the self-vehicle and the parallel running vehicle may be that the parallel running vehicle is in front of the self-vehicle, or may be a compression area formed when the self-vehicle runs into the parallel running vehicle, that is, the position of the parallel running vehicle running to the middle of the parallel running vehicle, that is, the parallel running vehicle running on two adjacent lanes passes through an area coinciding with a lateral area of a self-vehicle body during running, that is, an area coinciding between a front bumper and a tail of the self-vehicle and a vehicle on the adjacent lane, comparing lateral distances between the self-vehicle and the vehicles on the two adjacent lanes, if the lateral distance between the self-vehicle on the left side is greater than the lateral distance between the self-vehicle on the right side, controlling the self-vehicle to move laterally to the left side, and if the lateral distance between the self-vehicle on the left side is less than the lateral distance between the self-vehicle on the right side, controlling the self-vehicle to move laterally to the right side.
Illustratively, according to the comparison result, the distance length of one side with a small transverse distance between the own vehicle and the vehicles running on the two adjacent roads is obtained, and the own vehicle is controlled to move to the side with the small transverse distance according to the transverse distance and the preset avoidance distance.
When the transverse distance is smaller than the preset avoidance distance, the self-vehicle avoidance distance is calculated according to the difference between the preset avoidance distance and the transverse distance, namely the self-vehicle avoidance distance is equal to the transverse distance obtained by subtracting the side with the smaller distance from the preset avoidance distance.
Wherein the preset longitudinal distance may be 25m, which is not limited herein.
In the embodiment of the disclosure, by acquiring the images of the vehicles running in parallel in the lanes on two adjacent sides, acquiring the relative positions of the vehicles running in parallel according to the images, acquiring the longitudinal distance between the vehicles running in parallel and the longitudinal distance between the vehicles running in parallel when the vehicles running in parallel are positioned in front of the running direction of the vehicles, and adjusting the running speed of the vehicles when the longitudinal distance is smaller than the preset longitudinal distance until the longitudinal distance between the vehicles running in parallel is equal to or larger than the preset longitudinal distance, when a parallel area causing oppressive feeling to the vehicles running in front during running is present, avoidance can be timely performed, and the safety feeling of a driver during auxiliary driving is increased.
Fig. 2 is a schematic flow chart of a speed adjustment method in a vehicle avoidance method according to an embodiment of the present disclosure.
As shown in fig. 2, in some embodiments of the present disclosure, the method for avoiding a vehicle may further include the following steps:
s410, acquiring images of the self vehicle and the parallel running vehicle within preset time;
s420, acquiring position variation of the parallel running vehicle and the self vehicle in preset time based on the image in the preset time;
s430, determining the running speeds of the parallel running vehicle and the self vehicle according to the position variation and the preset time;
and S440, adjusting the running speed of the vehicle to be smaller than the running speed of the parallel running vehicle.
For example, the position variation of the parallel running vehicle and the self vehicle in the adjacent two lanes within the preset time can be acquired through images acquired by the millimeter wave radar and the vehicle-mounted camera in a linkage manner, and the running speeds of the parallel running vehicle and the self vehicle can be obtained by calculating according to the position variation and the preset time.
Illustratively, the traveling speeds of the parallel traveling vehicle and the own vehicle are compared; if the running speed of any one of the parallel running vehicles is less than or equal to the running speed of the own vehicle, the running speed of the own vehicle is adjusted to be less than the running speed of any one of the vehicles.
For example, the running speed corresponding to a faster vehicle of the parallel running vehicles may be obtained by comparing the obtained running speeds of the parallel running vehicles, and the running speed corresponding to the faster vehicle of the parallel running vehicles may be compared with the running speed of the host vehicle.
For example, the average speed of the parallel traveling vehicles may be calculated from the acquired traveling speed of the parallel traveling vehicles, the average speed of the parallel traveling vehicles may be compared with the traveling speed of the host vehicle, and if the average speed is lower than the traveling speed of the host vehicle, it may be indicated that the host vehicle travels at the current speed and enters a pressing area formed by the front parallel traveling vehicle.
In the embodiment of the present disclosure, the preset time may be a duration of acquiring the image of the surrounding environment during the driving process of the vehicle, or may be a certain fixed time period obtained during the whole process of acquiring the image, which is not limited herein.
In the embodiment of the present disclosure, the running speeds of the parallel running vehicle and the own vehicle are determined by acquiring images of the own vehicle and the parallel running vehicle within a preset time and acquiring the amount of change in the positions of the parallel running vehicle and the own vehicle within the preset time from the images within the preset time; the driving speed of the vehicle is adjusted to be lower than the driving speed of the parallel driving vehicle, so that the nervous psychology of a driver caused by the fact that the vehicle enters a compression area due to the fact that the vehicle speed is higher than the speed of the parallel driving vehicle in front in the driving process is avoided, the safety of auxiliary driving is improved, and user experience is improved.
Fig. 3 is a schematic structural diagram of a vehicle avoidance device provided in the embodiment of the present disclosure. The vehicle avoidance apparatus can be understood as a part of the functional modules in the electronic device in the above-described embodiment.
As shown in fig. 3, the vehicle avoidance device 40 includes:
the image acquisition module 41 is used for acquiring images of vehicles running in parallel in two adjacent lanes;
a position determination module 42 for obtaining a relative position of the own vehicle and the vehicle traveling in parallel in the image based on the image;
a first determination module 43, configured to acquire a longitudinal distance between the parallel running vehicle and the own vehicle when the parallel running vehicle is located in front of the own vehicle running direction;
and the second judging module 44 is configured to, when the longitudinal distance is smaller than a preset longitudinal distance, adjust the running speed of the host vehicle until the longitudinal distance between the host vehicle and the parallel running vehicle is equal to or greater than the preset longitudinal distance.
In one embodiment, the vehicle avoidance device 40 is further configured to:
acquiring images of a self vehicle and the parallel running vehicle within a preset time;
acquiring the position variation of the parallel running vehicle and the self vehicle within the preset time based on the image within the preset time;
determining the running speeds of the parallel running vehicle and the own vehicle according to the position variation and the preset time;
and adjusting the running speed of the self vehicle to be smaller than the running speed of the parallel running vehicle.
In one embodiment, the vehicle avoidance apparatus 40 is further configured to:
comparing the traveling speeds of the parallel traveling vehicle and the own vehicle;
and if the running speed of any one vehicle in the parallel running vehicles is less than or equal to the running speed of the own vehicle, adjusting the running speed of the own vehicle to be less than the running speed of any one vehicle.
In one embodiment, the vehicle avoidance apparatus 40 is further configured to:
determining a curvature of a curve of a lane in which the vehicle of the own vehicle and the vehicle of the adjacent lane are located based on the image;
and when the curvature of the curve is smaller than the preset curvature of the curve, controlling the self-vehicle to continuously run at the current track central position.
In another embodiment, the vehicle avoidance apparatus 40 is further configured to:
when the longitudinal distance is smaller than a preset longitudinal distance, acquiring a transverse distance between the self vehicle and the parallel running vehicle based on the image;
comparing a lateral distance between the host vehicle and a vehicle on a left lane with a lateral distance between the host vehicle and a vehicle on a right lane;
and controlling the self-vehicle to move to the side with the larger transverse distance according to the comparison result.
In one embodiment, the vehicle avoidance device 40 is further configured to:
acquiring a transverse distance with a small distance according to the comparison result;
and controlling the self-vehicle to move to the side with the large transverse distance based on the transverse distance with the small distance and the preset avoidance distance.
The device provided by the embodiment of the present disclosure can execute the method in any one of fig. 1 and fig. 2, and the execution manner and the beneficial effects are similar, which are not described herein again.
The embodiment of the present disclosure further provides a computer device, which includes a processor and a memory, where the memory stores a computer program, and when the computer program is executed by the processor, the method of any one of the foregoing embodiments in fig. 1 and fig. 2 may be implemented.
For example, fig. 4 is a schematic structural diagram of a computer device in an embodiment of the present disclosure. Referring now in particular to fig. 4, there is shown a schematic block diagram of a computer device 1000 suitable for use in implementing embodiments of the present disclosure. The computer device 1000 in the embodiments of the present disclosure may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a vehicle terminal (e.g., a car navigation terminal), etc., and a fixed terminal such as a digital TV, a desktop computer, etc., which may transmit data using a mobile network. The mobile computer device shown in fig. 4 is only one example and should not bring any limitations to the functionality or scope of use of the embodiments of the present disclosure.
As shown in fig. 4, the computer apparatus 1000 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 1001 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1002 or a program loaded from a storage device 1008 into a Random Access Memory (RAM) 1003. In the RAM 1003, various programs and data necessary for the operation of the mobile terminal apparatus 1000 are also stored. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other by a bus 1004. An input/output (I/O) interface 1005 is also connected to bus 1004.
Generally, the following devices may be connected to the I/O interface 1005: input devices 1006 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 1007 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 1008 including, for example, magnetic tape, hard disk, and the like; and a communication device 1009. The communication means 1009 may allow the mobile terminal apparatus 1000 to perform wireless or wired communication with other apparatuses to exchange data. While fig. 4 illustrates a computer device 1000 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may be alternatively implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from the network through the communication means 1009, or installed from the storage means 1008, or installed from the ROM 1002. The computer program, when executed by the processing device 1001, performs the above-described functions defined in the methods of the embodiments of the present disclosure.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. 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 of the computer readable storage medium may include, but are not limited to: 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 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. In the present disclosure, 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. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may 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: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be contained in the mobile terminal device; or may exist separately without being assembled into the computer device.
The computer-readable medium carries one or more computer programs which, when executed by the computing device, cause the computing device to: acquiring an image of at least one side of an adjacent lane; obtaining a relative position of a host vehicle and a parallel running vehicle in the image based on the image; acquiring a longitudinal distance between the parallel running vehicle and the own vehicle when the parallel running vehicle is located in front of the own vehicle running direction; when the longitudinal distance is less than a preset longitudinal distance, adjusting the driving speed of the host vehicle until the longitudinal distance between the host vehicle and the parallel traveling vehicle is equal to or greater than the preset longitudinal distance, the computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to object-oriented programming languages such as Java, smalltalk, C + +, and conventional procedural programming languages, such as "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).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present disclosure may be implemented by software or hardware. Wherein the name of a module does not in some cases constitute a limitation on the module itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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 or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
An embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored in the storage medium, and when the computer program is executed by a processor, the method in any one of the embodiments in fig. 1 and fig. 2 may be implemented, where an execution manner and beneficial effects of the method are similar, and are not described herein again.
The embodiment of the present disclosure further provides a vehicle, which includes the vehicle avoidance apparatus 40, and can execute the above obstacle detection method.
The embodiment of the present disclosure also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the processor can execute the method of any one of the above-mentioned fig. 1 and fig. 2.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The previous description is only for the purpose of describing particular embodiments of the present disclosure, so as to enable those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A vehicle avoidance method, comprising:
acquiring an image of at least one side of an adjacent lane;
obtaining a relative position of a host vehicle and a parallel running vehicle in the image based on the image;
acquiring a longitudinal distance between the parallel running vehicle and the own vehicle when the parallel running vehicle is located forward of the own vehicle running direction;
and when the longitudinal distance is smaller than the preset longitudinal distance, adjusting the running speed of the self vehicle until the longitudinal distance between the self vehicle and the parallel running vehicle is equal to or larger than the preset longitudinal distance.
2. The method of claim 1, wherein the adjusting the travel speed of the host vehicle comprises:
acquiring images of a self vehicle and the parallel running vehicle within a preset time;
acquiring the position variation of the parallel running vehicle and the self vehicle in the preset time based on the image in the preset time;
determining the running speeds of the parallel running vehicle and the self vehicle according to the position variation and the preset time;
and adjusting the running speed of the self vehicle to be smaller than the running speed of the parallel running vehicle.
3. The method according to claim 2, wherein the adjusting the traveling speed of the own vehicle to be smaller than the traveling speed of the parallel traveling vehicle includes:
comparing the traveling speeds of the parallel traveling vehicle and the own vehicle;
and if the running speed of any one vehicle in the parallel running vehicles is less than or equal to the running speed of the own vehicle, adjusting the running speed of the own vehicle to be less than the running speed of the any vehicle.
4. The method of claim 1, wherein said acquiring an image of at least one side adjacent lane comprises:
determining a curvature of a curve of a lane in which the vehicle of the own vehicle and the vehicle of the adjacent lane are located based on the image;
and when the curvature of the curve is smaller than the preset curvature of the curve, controlling the self vehicle to continuously run at the current track center position.
5. The method of claim 1, further comprising:
when the longitudinal distance is smaller than a preset longitudinal distance, acquiring a transverse distance between the self vehicle and the parallel running vehicle based on the image;
comparing the transverse distance between the vehicle and the vehicle on the left lane with the transverse distance between the vehicle and the vehicle on the right lane;
and controlling the self-vehicle to move to the side with the larger transverse distance according to the comparison result.
6. The method according to claim 5, wherein the controlling the vehicle to move to the side having the large lateral distance includes:
acquiring a transverse distance with a small distance according to the comparison result;
and controlling the self-vehicle to move to one side with a large transverse distance based on the transverse distance with the small distance and a preset avoidance distance.
7. A vehicle avoidance apparatus, characterized by comprising:
the image acquisition module is used for acquiring images of vehicles running in parallel in lanes on two adjacent sides;
a position determination module for obtaining a relative position of a self-vehicle and a vehicle running in parallel in the image based on the image;
a first determination module configured to acquire a longitudinal distance between the parallel running vehicle and the host vehicle when the parallel running vehicle is located ahead of the host vehicle in a running direction;
and the second judgment module is used for adjusting the running speed of the self-vehicle when the longitudinal distance is smaller than the preset longitudinal distance until the longitudinal distance between the self-vehicle and the parallel running vehicle is equal to or larger than the preset longitudinal distance.
8. An electronic device, comprising:
a processor;
a memory for storing executable instructions;
wherein the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method of any of claims 1-6.
9. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the method of any of the preceding claims 1-6.
10. A vehicle characterized by comprising the vehicle avoidance apparatus according to claim 7.
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| CN202210974489.7A CN115547101A (en) | 2022-08-15 | 2022-08-15 | Vehicle avoiding method, device, equipment, medium and vehicle |
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| CN202210974489.7A CN115547101A (en) | 2022-08-15 | 2022-08-15 | Vehicle avoiding method, device, equipment, medium and vehicle |
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