CN115649174A

CN115649174A - Intelligent overtaking event processing method and related product

Info

Publication number: CN115649174A
Application number: CN202211573818.3A
Authority: CN
Inventors: 李萱; 师广涛; 张海越
Original assignee: Shenzhen Xihua Technology Co Ltd
Current assignee: Shenzhen Xihua Technology Co Ltd
Priority date: 2022-12-08
Filing date: 2022-12-08
Publication date: 2023-01-31
Anticipated expiration: 2042-12-08
Also published as: CN115649174B; CN116215534A

Abstract

The application provides an intelligent overtaking event processing method and a related product, which are applied to an automatic driving domain controller of an automatic driving system of a user vehicle, wherein the method comprises the following steps: and when the first distance is detected to be smaller than a first preset distance and the target vehicle is detected to be determined as the vehicle to be overtaken, acquiring a first lane and a first vehicle speed where the user vehicle is currently located in the current overtaking event, a second lane and a second vehicle speed where the target vehicle is currently located, and a vehicle distance between the user vehicle and the target vehicle. According to the embodiment of the application, after the lane relation and the information in the overtaking event are analyzed, the vehicle of the user is controlled to process the overtaking event, a high-efficiency and accurate ramp-in driving strategy is executed on the premise that the safety of highway driving is guaranteed, and the user experience is optimized.

Description

Intelligent overtaking event processing method and related product

Technical Field

The application belongs to the technical field of general data processing of the Internet industry, and particularly relates to an intelligent processing method for overtaking events and a related product.

Background

Automatic driving is a mainstream application in the field of artificial intelligence, and the automatic driving technology depends on the cooperative operation of computer vision, radar, a monitoring device, a global positioning system and the like, so that the automatic driving of the motor vehicle can be realized without the active operation of human beings, the driving error of the human beings can be effectively avoided, and the traffic accidents are reduced.

At present, in a driving scene of an expressway, if a vehicle which is in an automatic driving overtaking state and wants to smoothly enter a ramp cannot be judged whether to smoothly enter an entrance lane of the ramp after overtaking a preceding vehicle, a driving error of missing the ramp can be caused, a serious traffic safety accident can be caused by the driving error in the driving scene of the expressway, and the driving safety of a driver cannot be ensured.

Disclosure of Invention

The application provides an intelligent overtaking event processing method and a related product, aiming at improving the safety of judging an automatic driving strategy entering a ramp after overtaking when driving on a highway and improving the driving experience of a user.

In a first aspect, an embodiment of the present application provides an intelligent processing method for a passing event, which is characterized in that the method is applied to an automatic driving domain controller of an automatic driving system of a user vehicle, where the automatic driving system includes the automatic driving domain controller and a sensor module set in a vehicle body of the user vehicle, the automatic driving domain controller is in communication connection with the sensor module, and the method includes:

when detecting that the first distance is smaller than a first preset distance and a target vehicle is determined as a vehicle to be overtaken, acquiring a first lane and a first vehicle speed where the user vehicle is currently located, a second lane and a second vehicle speed where the target vehicle is currently located and a vehicle distance between the user vehicle and the target vehicle in a current overtaking event, wherein the first distance is a linear distance between a first position and a second position where the user vehicle is currently located, the second position is a projection position of an entrance position of a target ramp on the first lane, and the first preset distance is a preset distance for suggesting a user to change lanes in advance;

if the first lane is the same as the second lane and one or more lanes exist between the first lane and the adjacent lane of the entrance lane, interrupting the execution of the overtaking event, controlling the user vehicle to decelerate and change the lane to the adjacent lane of the entrance lane; and controlling the user vehicle to change lanes from an adjacent lane of the entrance lane to the entrance lane, the entrance lane being an entrance lane of the target ramp;

if the first lane is the same as the second lane and the first lane is an adjacent lane of the entrance lane, determining a second distance according to the first vehicle speed, a second vehicle speed and a vehicle distance between the user vehicle and the target vehicle, wherein the second distance is a distance required by the user vehicle to travel forwards to complete the overtaking event;

if the second distance is greater than or equal to the first distance, interrupting the execution of the overtaking event, controlling the user vehicle to decelerate, and changing the lane to the entrance lane;

if the second distance is smaller than the first distance, acquiring a real-time road condition of an entrance lane of the target ramp; processing the overtaking event according to the real-time road condition of the entrance lane; and controlling the user vehicle to perform a first lane change process to change a lane to the entrance lane;

if the first lane is different from the second lane and the second lane is an adjacent lane of the entrance lane, determining the second distance according to the first vehicle speed, the second vehicle speed and the vehicle distance between the user vehicle and the target vehicle;

if the second distance is greater than or equal to the first distance, interrupting execution of the overtaking event, controlling the user vehicle to decelerate and change to the second lane, and controlling the user vehicle to change from the second lane to the entrance lane;

if the second distance is smaller than the first distance, acquiring a real-time road condition of an entrance lane of the target ramp; processing the overtaking event according to the real-time road condition of the entrance lane; and controlling the user vehicle to perform a second lane change process to change a lane to the entrance lane;

and if the first lane is different from the second lane and one or more lanes exist between the second lane and the entrance lane, interrupting the execution of the overtaking event, and controlling the user vehicle to decelerate and change the lane to the entrance lane.

In a second aspect, the embodiment of the present application provides an intelligent processing device for overtaking event, which is characterized in that, is applied to the automatic driving domain controller of the automatic driving system of the user vehicle, the automatic driving system includes the automatic driving domain controller and set up in the sensor module of the vehicle body of the user vehicle, the automatic driving domain controller with sensor module communication connection, the device includes:

the detection unit is used for detecting that a first distance is smaller than a first preset distance, and detecting that a target vehicle is determined as a vehicle to be overtaken, acquiring a first lane and a first vehicle speed of the user vehicle at present, a second lane and a second vehicle speed of the target vehicle at present, and a vehicle distance between the user vehicle and the target vehicle in the current overtaking event, wherein the first distance is a straight-line distance between a first position and a second position of the user vehicle at present, the second position is a projection position of an entrance position of a target ramp on the first lane, and the first preset distance is a preset distance for suggesting a user to change lanes in advance;

a control unit, interrupting execution of the overtaking event, controlling the user vehicle to decelerate, and changing to an adjacent lane of an entrance lane, if the first lane is the same as the second lane and one or more lanes exist between the first lane and the adjacent lane of the entrance lane; and controlling the user vehicle to change lanes from an adjacent lane of the entrance lane to the entrance lane, the entrance lane being an entrance lane of the target ramp;

if the second distance is greater than or equal to the first distance, interrupting execution of the overtaking event, controlling the user vehicle to decelerate, and changing the lane to the entrance lane;

if the second distance is smaller than the first distance, acquiring a real-time road condition of an entrance lane of the target ramp; processing the overtaking event according to the real-time road condition of the entrance lane; and controlling the user vehicle to perform a second lane change process to change the lane to the entrance lane;

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs, stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps in the first aspect of the embodiment of the present application.

In a fourth aspect, embodiments of the present application provide a computer storage medium for storing a computer program for electronic data exchange, where the computer program enables a computer to perform some or all of the steps as described in the first aspect of the embodiments of the present application.

In a fifth aspect, embodiments of the present application provide a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, where the computer program is operable to cause a computer to perform some or all of the steps as described in the first aspect of the embodiments of the present application.

It can be seen that, in the embodiment of the present application, the autopilot domain control first detects that the first distance is smaller than the first preset distance, and detects that the target vehicle is determined as a vehicle to be overtaken, then obtains a first lane and a first vehicle speed where the user vehicle is currently located, a second lane and a second vehicle speed where the target vehicle is currently located, and a vehicle distance between the user vehicle and the target vehicle in the current overtaking event, determines whether to execute the overtaking event according to a relationship between the first lane, the second lane, and the entrance lane, and the second distance, and then processes the overtaking event in real time according to a road condition of the entrance lane. Therefore, the method controls the vehicles of the users to process the overtaking events by comprehensively analyzing the lane relation and necessary parameters in the overtaking events, executes an efficient and accurate ramp-entering driving strategy on the premise of ensuring the safety of highway driving, and optimizes user experience.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of an autopilot system provided by an embodiment of the present application;

FIG. 3a is a schematic flow chart of an intelligent overtaking event processing method according to an embodiment of the present disclosure;

FIG. 3b is a schematic view of an expressway traveling scene according to an embodiment of the present application;

fig. 3c is a schematic diagram of a highway lane relationship provided in the embodiment of the present application;

FIG. 3d is a schematic view of another embodiment of the present application showing a highway relationship;

FIG. 3e is a schematic diagram of another expressway lane relationship provided by an embodiment of the present application;

FIG. 3f is a schematic diagram of another exemplary embodiment of a highway relationship;

FIG. 3g is a schematic diagram of an expressway overtaking event according to an embodiment of the present application;

fig. 4a is a block diagram illustrating functional units of an intelligent processing apparatus for a passing event according to an embodiment of the present application;

fig. 4b is a block diagram illustrating functional units of another intelligent processing device for a passing event according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood by those skilled in the art, 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, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," and the like in the description and claims of the present application and in the foregoing drawings are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 1, the electronic device includes one or more application processors 120, a memory 130, a communication module 140, and one or more programs 131, and the application processors 120 are communicatively connected to the memory 130 and the communication module 140 through an internal communication bus.

Wherein the one or more programs 131 are stored in the memory 130 and configured to be executed by the application processor 120, the one or more programs 131 comprising instructions for performing any of the steps of the method embodiments.

The Application Processor 120 may be, for example, a Central Processing Unit (CPU), a general purpose Processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), other Programmable logic devices (Programmable Gate Array), a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, units, and circuits described in connection with the disclosure. The applications processor 120 may also be a combination that performs computing functions, including by way of example, one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication unit may be the communication module 140, the transceiver, the transceiving circuit, etc., and the storage unit may be the memory 130.

The memory 130 may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, and not limitation, many forms of Random Access Memory (RAM) are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), and direct bus RAM (DR RAM).

Referring to fig. 2, fig. 2 is a schematic diagram of an automatic driving system provided in an embodiment of the present application, where the automatic driving system 20 includes the automatic driving controller 210 and a sensor module 220 disposed on a body of the user vehicle.

The automatic driving controller 210 is configured to receive the motion state and the surrounding environment state through a bus 230 to obtain a driving scene of the user vehicle, and determine whether the user vehicle can successfully drive into an entrance lane of a target ramp after the execution of the overtaking event is completed, so as to generate a corresponding control instruction. That is, the automatic driving controller 210 may determine whether to execute the probability of entering the ramp after the passing event according to the current driving scene, and evaluate the motion scene obtained according to the motion state of the user vehicle detected by the sensor module 220 in real time and the surrounding environment state, so as to pre-formulate the driving strategy and control the controlled vehicle to actively execute in advance.

The sensor module 220 may include an external sensor for detecting information about the surrounding environment of the host vehicle in real time and an internal sensor for measuring information about the state of the host vehicle. The external sensor may include an image sensor, a distance measurement sensor, a Global Positioning System (GPS) receiver, and the like mounted on at least one of a front side, a side surface, and a rear side of the vehicle. Here, the information on the environment around the own vehicle may include a traveling lane of the own vehicle and a traveling state of a surrounding vehicle traveling in a surrounding lane adjacent to the traveling lane of the own vehicle.

The image sensor may collect image information around the vehicle captured through the optical system, and may perform image processing such as noise removal, image quality and saturation adjustment, and file compression on the image information.

The distance measuring sensor may measure a distance from the vehicle to the object or a relative speed of the object, and may be implemented as a radio detection and ranging (LiDAR) sensor or a light detection and ranging (LiDAR) sensor. The darar sensor measures a distance to an object around the vehicle, a moving direction of the object, a relative speed of the object, a height of the object, and the like using electromagnetic waves, and is configured to enable remote recognition and perform its function in bad weather. Light detection and ranging (LiDAR) sensors emit laser pulses on a roadway to an area in front of a vehicle and generate point-like LiDAR data from the laser pulses reflected from objects and the like. Such LiDAR sensors have precise resolution and are therefore primarily used to detect objects present around the vehicle.

A Global Positioning System (GPS) receiver is a sensor configured to estimate the geographic location of a vehicle. The GPS receiver may receive navigation messages from GPS satellites located far from the surface of the earth and may collect information about the current position of the vehicle in real time based thereon.

The internal sensors may include a speed sensor, an acceleration sensor, a steering angle sensor, and the like, which respectively measure a current vehicle speed, acceleration, steering angle, and the like of the vehicle, and may periodically collect information on states of various actuators.

Therefore, the automatic driving domain controller can comprehensively analyze the road condition information and the lane information sent by the sensor, and make a driving strategy of a passing event and driving into a ramp according to the related information, so that the safety of processing complex driving events during high-speed driving is ensured, and the experience of a user during driving is optimized.

The following describes an intelligent processing method for a passing event provided by an embodiment of the present application.

Referring to fig. 3a, fig. 3a is a schematic flowchart illustrating an intelligent processing method for a passing event according to an embodiment of the present application, where the method is applied to an autopilot domain controller in the autopilot system shown in fig. 2. The automatic driving system comprises the automatic driving domain controller and a sensor module arranged on a vehicle body of the user vehicle, the automatic driving domain controller is in communication connection with the sensor module, and as shown in fig. 3a, the method comprises the following steps:

in step 310, it is detected that the first distance is smaller than the first preset distance, and it is detected that the target vehicle is determined as a vehicle to be overtaken.

Referring to fig. 3B, fig. 3B is a schematic view of a driving scene of an expressway provided in an embodiment of the present application, as shown in fig. 3B, where the first position is a position 31 where the user vehicle is located, the second position is a position 32 where the target vehicle is located, the first distance is a position B where an entrance position a of the target ramp is projected on the first lane, and the first distance is a linear distance between the user vehicle and the position B.

The first preset distance is a distance which is preset in the automatic driving system and is suggested to a user to change a lane in advance under a highway driving scene, and it should be understood that the first preset distance is adaptively adjusted according to a speed limit regulation of a highway section, a speed limit regulation of a ramp and the like; specifically, the speed is generally fast during highway driving, so the user is generally advised to prepare for a lane-change operation at a position 500m before the entrance lane of the target ramp.

Specifically, when the vehicle of the user runs to a position 500m away from an entrance on an entrance lane of a non-target ramp, the user is prompted to change the ramp in time, and in an automatic driving scene, the user is prompted to enter the ramp immediately before changing the ramp, and if the ramp is not changed in time within the distance of 500m, the target ramp is missed.

The detected target vehicle is determined as a vehicle to be overtaken, and for example, the following parameters may be used for reference judgment: when the target vehicle is in the above state, time is consumed for driving planning of the on-ramp after the normal lane change of the user vehicle, and therefore whether the target vehicle is overtaken needs to be determined so as to ensure safe and normal running.

It is thus clear that, in this example, detect the reasonable execution distance that the lane change got into the ramp through the sensor module, improve the driving safety when highway high speed is gone to and the reasonable accuracy of driving route.

In one possible example, the method further comprises: and if the first distance is detected to be greater than or equal to the first preset distance and the target vehicle is detected to be determined as the vehicle to be overtaken, executing an overtaking event aiming at the target vehicle.

If the first distance is greater than or equal to the first preset distance, it should be understood that the overtaking event can be smoothly executed and no complex judgment logic exists in the road section beyond the first preset distance in the road section where the lane change driving needs to be executed.

As can be seen, in this example, the driving of the highway section outside the first preset distance is not limited, the steps in the driving process are simplified, the overtaking efficiency is improved, and the safety of the user is ensured.

And step 320, acquiring a first lane and a first vehicle speed where the user vehicle is currently located, a second lane and a second vehicle speed where the target vehicle is currently located, and a vehicle distance between the user vehicle and the target vehicle in the current overtaking event.

If it is determined that the first lane is the same as the second lane and one or more lanes exist between the first lane and the adjacent lane of the entrance lane, the execution of the passing event is interrupted, the vehicle of the user is controlled to decelerate, and the lane is changed to the adjacent lane of the entrance lane; and controlling the user vehicle to change from a lane adjacent to the entrance lane, wherein the entrance lane is an entrance lane of the target ramp;

wherein, after the execution of the overtaking event is interrupted, the user is informed to interrupt the overtaking event by a prompt message,

specifically, in the situation as shown in fig. 3c, one or more lanes exist between the first lane/second lane where the user vehicle 31 and the target vehicle 32 are located and the entrance lane of the target ramp, and during high-speed driving, the lane change is required for multiple lanes after passing, the driving difficulty is large, and the safety cannot be ensured.

Therefore, in the example, the lane relation corresponding to the driving strategy with higher risk degree is determined through the preliminary screening of the lane relation, and the overtaking event is directly selected to be abandoned in the preliminary screening of the lane relation, so that the safety and the reliability in the driving process are improved, and the driving risk is effectively reduced.

As shown in fig. 3d, fig. 3d is another schematic diagram of a relationship between highspeed lanes provided in the embodiment of the present application, and if it is determined that the first lane is the same as the second lane and the first lane is an adjacent lane of the entry lane, determining a second distance according to the first vehicle speed, the second vehicle speed, and a vehicle distance between the user vehicle and the target vehicle;

wherein the second distance is shown in fig. 3g, and refers to a relative forward driving distance relative to the overtaking start position after the user vehicle completes the overtaking event for the target vehicle; it should be appreciated that while the cut-in event is being performed, the user vehicle 31 is traveling forward simultaneously with the target vehicle 32, the second distance illustrated herein is simply the relative travel distance of the user vehicle 31 during the cut-in event and not the actual travel distance.

Specifically, if the second distance is greater than or equal to the first distance, the overtaking event is interrupted, the user vehicle is controlled to decelerate, and the lane is changed to the entrance lane.

Specifically, if the second distance is smaller than the first distance, acquiring a real-time road condition of an entrance lane of the target ramp; processing the overtaking event according to the real-time road condition of the entrance lane; and controlling the user vehicle to perform a first lane change process to change a lane to the entrance lane.

Wherein the second distance is calculated by the following formula:

a second distance = (L1 + L2)/(V1-V2) × V1;

in practical applications, the model, the brand, and the like of the target vehicle may be analyzed by the sensor module as a reference vehicle length, and V1 and V2 refer to a first vehicle speed of the user vehicle and a second vehicle speed of the target vehicle.

Wherein, it passes through including to acquire the real-time road conditions in entry lane: the method comprises the following steps of comprehensively judging real-time road conditions according to information such as the average vehicle speed of an entrance lane and the average traffic flow of the entrance lane, specifically, calculating the traffic congestion degree of an interval road section through the following formula as a reference of the real-time road conditions:

wherein the content of the first and second substances,

an average vehicle speed for the entry lane segment; l is the length of the selected entrance lane section;

for the time of passage of a single vehicle through the entry lane section, it should be understood that

The estimated value is only the time consumed for a vehicle to pass through the current entrance lane within the speed limit requirement of the entrance lane; n is the number of vehicles in the entrance lane.

Therefore, in the example, the vehicle of the user is controlled to process the overtaking event by comprehensively analyzing the lane relation and the necessary parameters in the overtaking event, and the efficient and accurate ramp-in driving strategy is executed on the premise of ensuring the safety of highway driving, so that the user experience is optimized.

In one possible example, the processing the overtaking event according to the real-time road condition of the entrance lane includes: determining the probability that the user vehicle misses the entrance of the target ramp according to the real-time road condition; if the probability is larger than or equal to a preset probability, determining to interrupt the overtaking event; and if the probability is smaller than the preset probability, determining to continuously execute the overtaking event.

It should be understood that the lower the value of the preset probability setting, the higher the conservative degree of the driving strategy, for example, the preset probability of the user a is 50%, which indicates that the overtaking event can be executed as long as the probability is lower than 50%; if the preset probability of the user B is 20%, it indicates that the determined probability of missing the entrance is lower than 20% to execute the overtaking event, correspondingly, if the probability of missing the entrance of the target ramp determined by the two users A and B is 40%, the overtaking event can be executed according to the preset probability of the user A, and 40% of the probability of missing the entrance of the target ramp exists, and according to the preset probability of the user B, the overtaking event is interrupted, and a more conservative on-ramp driving strategy is adopted.

And if the probability is greater than or equal to a preset probability, after the overtaking event is determined to be interrupted, executing a corresponding lane changing process according to the lane relation so as to change the lane to the entrance lane.

Wherein the lane relationship comprises at least one of: the first lane is the same as the second lane as shown in fig. 3d and the first lane is a lane relationship of adjacent lanes of the entry lane, and the first lane is different from the second lane as shown in fig. 3e and the second lane is a lane relationship of adjacent lanes of the entry lane, it being understood that the corresponding lane change process refers to the lane relationship as shown in fig. 3d and the first lane change process is performed; the second lane change process is then performed as shown in the lane relationship of fig. 3 e.

In one possible example, before processing the cut-in event according to real-time road conditions of the entrance lane, the method further comprises:

detecting that the real-time road condition is a non-complex road condition, wherein the non-complex road condition is a road condition other than a complex road condition of a lane, and the complex road condition is used for indicating at least one of the following states of vehicles in the lane: the average number of vehicles in the entrance lane exceeds a preset average number, and the average vehicle speed in the entrance lane is lower than a preset average vehicle speed.

The state is used for indicating a normal congestion state of an entrance lane, and if an accident, a traffic accident and the like occur in the entrance lane, the current road condition of the entrance lane can be analyzed through a navigation program or traffic road condition broadcast information.

Wherein, can also through including: parameter threshold methods such as California algorithm (California algorithm), mc Master algorithm, monica algorithm (Monica algorithm) and the like are used for evaluating the complexity of the entrance lane, and the method for analyzing the complexity of the road condition of the entrance lane is not described herein again.

Therefore, in the example, after the overtaking event is completed, the road condition of the entrance lane position of the target ramp is detected and analyzed, so that the processing of the entering ramp after overtaking is more comprehensive and efficient, comprehensive evaluation is performed, and an effective and safe driving strategy is provided.

In one possible example, before processing the overtaking event according to the real-time road condition of the entrance lane, the method further comprises: if the real-time road condition is detected to be a complex road condition, inquiring whether the current driving mode is changed from the automatic driving mode to the manual driving mode by a user through a prompt message; and according to the operation of the user responding to the prompt message, converting the driving mode of the user vehicle into the manual driving mode.

The prompting message may be in a manner of: and after receiving the operation of confirming the prompt message from the user, prompting the user to switch to a manual driving mode, and switching the driving mode to a vehicle manually driven by the user after counting down is finished.

The operation of confirming the prompt message may correspond to the prompt message, and may include: voice confirmation, touch screen click confirmation, and the like.

Wherein, after detecting that the real-time road condition is a complex road condition, the method further comprises: and acquiring a driving history record of the user, evaluating whether the user can cope with the current complex road condition or not through the driving history record, and determining whether to prompt the user to switch the driving mode to a manual driving mode or not according to an evaluation result.

Wherein, confirming whether to prompt the user to switch the driving mode to the manual driving mode according to the evaluation result further comprises: if the evaluation result is: if the user cannot deal with the current complex road condition, interrupting the execution of the overtaking event; if the evaluation result is: and if the user can deal with the current complex road condition, prompting the user whether to change the current driving mode from the automatic driving mode to the manual driving mode.

Specifically, the driving record of the user includes: historical traffic accident rate, driving scratch times, driving error rate at the current speed and the like can reflect a series of historical records of the driving level of the user.

Therefore, in the example, when the complex road condition which cannot be responded by the automatic driving system is faced, whether the user can manually drive the vehicle to respond to the complex road condition is firstly evaluated, then the user is prompted to switch the vehicle driving mode from automatic driving to manual driving, the user is prompted to prepare for manual driving, the user experience is optimized, and the driving safety under the complex road condition is ensured.

In one possible example, the controlling the user vehicle to perform a first lane change procedure to change the lane to the entrance lane includes: controlling the user vehicle to change lane from the first lane to the entry lane.

Wherein the manner of determining to process the overtaking event is: and when the overtaking event is executed, controlling the user vehicle to change the lane from the current lane (first lane) to the entrance lane after the user vehicle passes the target vehicle.

Specifically, when the user vehicle passes through the target vehicle on the same lane, the speed of the user vehicle is increased from the left lane, and then the user vehicle is turned into the right lane, namely the lane where the user vehicle is located does not change before and after the overtaking event.

Wherein determining a manner of handling the cut-in event further comprises: and if the overtaking event is interrupted, controlling the vehicle to decelerate and change the lane from the current lane (the first lane) to the entrance lane.

As can be seen, in this example, in the case where the first lane and the second lane are the same lane and the first lane is an adjacent lane of the entrance lane, the targeted lane change process is performed, and the driving strategy of the passing event is efficiently performed.

As shown in fig. 3e, fig. 3e is a schematic diagram of another expressway lane relationship provided by the embodiment of the application, wherein if the first lane is different from the second lane, and the second lane is an adjacent lane to the entry lane, the second distance is determined according to the first vehicle speed, the second vehicle speed, and a vehicle distance between the user vehicle and the target vehicle;

specifically, if the second distance is greater than or equal to the first distance, the execution of the overtaking event is interrupted, the user vehicle is controlled to decelerate and change to the second lane, and the user vehicle is controlled to change from the second lane to the entrance lane.

Specifically, if the second distance is smaller than the first distance, acquiring a real-time road condition of an entrance lane of the target ramp; processing the overtaking event according to the real-time road condition of the entrance lane; and controlling the user vehicle to perform a second lane change process to change the lane to the entrance lane.

It should be understood that the case of fig. 3d is the same as the case of fig. 3e in the manner of determining and processing the passing event, and is not described herein again.

In one possible example, the controlling the user vehicle to perform a second lane change process to change a lane to the entrance lane includes: control the user vehicle to change lane from the first lane to the second lane, and control the user vehicle to change lane from the second lane to the entry lane.

Wherein the manner of determining to process the overtaking event is: and executing the overtaking event, and after controlling the user vehicle to overtake the target vehicle, changing the lane from the current lane (the first lane) to the second lane and then changing the lane from the second lane to the entrance lane.

Wherein determining a manner of handling the cut-in event further comprises: and if the overtaking event is interrupted, controlling the user vehicle to decelerate and change the lane to the second lane, and then changing the lane from the second lane to the entrance lane.

As can be seen, in this example, when the first lane and the second lane are different lanes and the second lane is an adjacent lane of the entrance lane, a targeted lane change process is executed, a driving strategy of a passing event is efficiently executed, and a user driving experience is optimized.

As shown in fig. 3f, fig. 3f is a schematic diagram of another expressway relationship provided in an embodiment of the present application, where if the first lane is different from the second lane and one or more lanes exist between the second lane and the entrance lane, the execution of the passing event is interrupted, and the user vehicle is controlled to decelerate and change to the entrance lane.

Therefore, in the example, the lane relation corresponding to the driving strategy with higher risk degree is determined through the preliminary screening of the lane relation, and the overtaking event is directly selected to be interrupted in the preliminary screening of the lane relation, so that the safety and the reliability in the driving process are improved, and the driving risk is effectively reduced.

The application provides an intelligent overtaking event processing method and related products, which are applied to an automatic driving domain controller of an automatic driving system of a user vehicle, and comprise the following steps: and if the first distance is smaller than a first preset distance and the target vehicle is determined to be a vehicle to be overtaken, acquiring a first lane and a first vehicle speed where the user vehicle is currently located, a second lane and a second vehicle speed where the target vehicle is currently located and a vehicle distance between the user vehicle and the target vehicle in the current overtaking event. The lane relation and necessary parameters in the overtaking event are comprehensively analyzed, the vehicle of a user is controlled to process the overtaking event, a high-efficiency and accurate ramp-in driving strategy is executed on the premise of ensuring the safety of highway driving, and the user experience is optimized.

In accordance with the above-described embodiment, please refer to fig. 4a, fig. 4a is a block diagram of functional units of an intelligent processing apparatus for a passing event according to an embodiment of the present application, where the apparatus is applied to an electronic device shown in fig. 1, and the intelligent processing apparatus for a passing event 40 includes: a detecting unit 410, configured to detect that a first distance is smaller than a first preset distance, and detect that a target vehicle is determined to be a vehicle to be overtaken, obtain a first lane and a first vehicle speed where the user vehicle is currently located, a second lane and a second vehicle speed where the target vehicle is currently located, and a vehicle distance between the user vehicle and the target vehicle in a current overtaking event, where the first distance is a linear distance between a first position and a second position where the user vehicle is currently located, the second position is a projection position of an entrance position of a target ramp on the first lane, and the first preset distance is a preset distance that suggests a user to change lanes in advance;

a control unit 420, configured to determine that, if the first lane is the same as the second lane and one or more lanes exist between the first lane and an adjacent lane of an entrance lane, the execution of the overtaking event is interrupted, the user vehicle is controlled to decelerate, and the lane is changed to the adjacent lane of the entrance lane; and controlling the user vehicle to change from a lane adjacent to the entrance lane, wherein the entrance lane is an entrance lane of the target ramp;

In one possible example, in terms of processing the passing event according to the real-time road condition of the entrance lane, the control unit 420 is specifically configured to: determining the probability that the user vehicle misses the entrance of the target ramp according to the real-time road condition; if the probability is larger than or equal to a preset probability, determining to interrupt the overtaking event; and if the probability is smaller than the preset probability, determining to continuously execute the overtaking event.

In one possible example, in the aspect before the processing of the overtaking event according to the real-time road condition of the entrance lane, the control unit 420 is further specifically configured to: detecting that the real-time road condition is a non-complex road condition, wherein the non-complex road condition is a road condition other than a complex road condition of a lane, and the complex road condition is used for indicating at least one of the following states of vehicles in the lane: the average number of vehicles in the entrance lane exceeds a preset average number, and the average speed of the entrance lane is lower than a preset average speed.

In one possible example, in the aspect before the processing of the overtaking event according to the real-time road condition of the entrance lane, the control unit 420 is further specifically configured to: if the real-time road condition is detected to be a complex road condition, inquiring whether the current driving mode is changed from the automatic driving mode to the manual driving mode by a user through a prompt message; and according to the operation of the user responding to the prompt message, converting the driving mode of the user vehicle into the manual driving mode.

In one possible example, in the aspect of controlling the user vehicle to perform a first lane change procedure to change lanes to the entrance lane, the control unit 420 is specifically configured to: controlling the user vehicle to change lane from the first lane to the entry lane.

In one possible example, in the aspect of controlling the user vehicle to perform a second lane change procedure to change lanes to the entrance lane, the control unit 420 is specifically configured to: control the user vehicle to change lane from the first lane to the second lane, and control the user vehicle to change lane from the second lane to the entry lane.

In one possible example, the detecting unit 410 is further configured to: and if the first distance is detected to be greater than or equal to the first preset distance and the target vehicle is detected to be determined as the vehicle to be overtaken, executing an overtaking event aiming at the target vehicle.

It can be understood that, since the method embodiment and the apparatus embodiment are different presentation forms of the same technical concept, the content of the method embodiment portion in the present application should be synchronously adapted to the apparatus embodiment portion, and is not described herein again.

In the case of using an integrated unit, as shown in fig. 4b, fig. 4b is a block diagram of functional units of another intelligent processing device for a passing event according to an embodiment of the present application. In fig. 4b, the intelligent handling device 41 for the overtaking event includes: a communication module 411 and a processing module 412. The processing module 412 is used to control and manage the actions of the intelligent handling device of the cut-in event, for example, to execute the steps of the detection unit 410, the control unit 420, and/or other processes for performing the techniques described herein. The communication module 411 is used for supporting interaction between the intelligent overtaking event processing device and other equipment. As shown in fig. 4b, the intelligent processing device for the passing event may further comprise a storage module 413, and the storage module 413 is used for storing the program code and data of the intelligent processing device for the passing event.

The Processing module 412 may be a Processor or a controller, and may be, for example, a Central Processing Unit (CPU), a general-purpose Processor, a Digital Signal Processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others. The communication module 411 may be a transceiver, an RF circuit or a communication interface, etc. The storage module 413 may be a memory.

All relevant contents of each scene related to the method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again. The intelligent overtaking event processing device 41 can execute the intelligent overtaking event processing method shown in fig. 3 a.

The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. The procedures or functions according to the embodiments of the present application are wholly or partially generated when the computer instructions or the computer program are loaded or executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire or wirelessly. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more collections of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.

Embodiments of the present application also provide a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, the computer program enabling a computer to execute part or all of the steps of any one of the methods described in the above method embodiments, and the computer includes an electronic device.

Embodiments of the present application also provide a computer program product, which includes a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments.

The computer program product may be a software installation package, the computer comprising an electronic device.

It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus, and system may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative; for example, the division of the unit is only a logic function division, and there may be another division manner in actual implementation; for example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately and physically included, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware, or in the form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: u disk, removable hard disk, magnetic disk, optical disk, volatile memory or non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, and not limitation, many forms of Random Access Memory (RAM) are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), and direct bus RAM (DR RAM) among various media capable of storing program code.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications can be easily made by those skilled in the art without departing from the spirit and scope of the present invention, and it is within the scope of the present invention to include different functions, combination of implementation steps, software and hardware implementations.

It should be understood that, in the various embodiments of the present application, the execution sequence of each process should be determined by its function and the inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Claims

1. An intelligent overtaking event processing method is characterized in that the intelligent overtaking event processing method is applied to an automatic driving domain controller of an automatic driving system of a user vehicle, the automatic driving system comprises the automatic driving domain controller and a sensor module arranged on a vehicle body of the user vehicle, the automatic driving domain controller is in communication connection with the sensor module, and the method comprises the following steps:

if the first lane is the same as the second lane and one or more lanes exist between the first lane and the adjacent lane of the entrance lane, interrupting the execution of the overtaking event, controlling the vehicle of the user to decelerate and change the lane to the adjacent lane of the entrance lane; and controlling the user vehicle to change lanes from an adjacent lane of the entrance lane to the entrance lane, the entrance lane being an entrance lane of the target ramp;

2. The method of claim 1, wherein processing the cut-in event according to real-time road conditions of the entry lane comprises:

determining the probability that the user vehicle misses the entrance of the target ramp according to the real-time road condition;

if the probability is larger than or equal to a preset probability, determining to interrupt the overtaking event;

and if the probability is smaller than the preset probability, determining to continuously execute the overtaking event.

3. The method of claim 1 or 2, wherein prior to processing the cut-in event according to real-time road conditions of the entrance lane, the method further comprises:

detecting that the real-time road condition is a non-complex road condition, wherein the non-complex road condition is a road condition other than a complex road condition of a lane, and the complex road condition is used for indicating at least one of the following states of vehicles in the lane: the average number of vehicles in the entrance lane exceeds a preset average number, and the average speed of the entrance lane is lower than a preset average speed.

4. The method of claim 3, wherein prior to processing the cut-in event according to real-time road conditions of the entry lane, the method further comprises:

if the real-time road condition is detected to be a complex road condition, inquiring whether the current driving mode is changed from the automatic driving mode to the manual driving mode by a user through a prompt message; and the number of the first and second groups,

and converting the driving mode of the vehicle of the user into the manual driving mode according to the operation of the user for responding to the prompt message.

5. The method of claim 1 or 2, wherein the controlling the user vehicle to perform a first lane change procedure to change lanes to the entry lane comprises:

controlling the user vehicle to change lane from the first lane to the entry lane.

6. The method of claim 5, wherein the controlling the user vehicle to perform a second lane change procedure to change lanes to the entry lane comprises:

control the user vehicle to lane change from the first lane to the second lane, and control the user vehicle to lane change from the second lane to the entry lane.

7. The method according to claim 1 or 2, characterized in that the method further comprises:

and if the first distance is detected to be greater than or equal to the first preset distance and the target vehicle is detected to be determined as the vehicle to be overtaken, executing an overtaking event aiming at the target vehicle.

8. The utility model provides a passing incident intelligence processing apparatus which characterized in that, is applied to the autopilot domain controller of the autopilot system of user's vehicle, autopilot system include autopilot domain controller with set up in the sensor module of user's vehicle automobile body, autopilot domain controller with sensor module communication connection, the device includes:

a control unit, configured to, if the first lane is the same as the second lane and one or more lanes exist between the first lane and an adjacent lane of an entrance lane, interrupt execution of the overtaking event, control the user vehicle to decelerate, and change the lane to the adjacent lane of the entrance lane; and controlling the user vehicle to change lanes from an adjacent lane of the entrance lane to the entrance lane, the entrance lane being an entrance lane of the target ramp;

9. An electronic device comprising a processor, memory, and one or more programs stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps of the method of any of claims 1-7.

10. A computer-readable storage medium, on which a computer program/instructions is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.