CN115973141A

CN115973141A - Method and device for avoiding vehicle meeting, vehicle and storage medium

Info

Publication number: CN115973141A
Application number: CN202310002895.1A
Authority: CN
Inventors: 殷炎; 邓绮慧; 邵俊宇; 刘亚飞
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2023-01-03
Filing date: 2023-01-03
Publication date: 2023-04-18

Abstract

The application relates to the technical field of vehicles, in particular to a method and a device for avoiding vehicle meeting, a vehicle and a storage medium, wherein the method comprises the following steps: receiving vehicle-to-vehicle V2V driving information sent by an opposite vehicle; acquiring sensing driving information of the opposite vehicle when the current vehicle and the opposite vehicle are judged to have lane invasion risks according to the V2V driving information; and fusing the V2V running information and the sensing running information, and controlling the current vehicle to execute an emergency lane keeping ELK function to perform emergency braking and steering to avoid the opposite vehicle when the fusion result is that the current vehicle and the opposite vehicle have collision risks. Therefore, the problems that information of the current vehicle and the opposite-direction running vehicle cannot be interacted in time, and the vehicle can not be planned and controlled to turn and brake in time when facing collision risks are solved, the triggering opportunity and the accuracy of execution of the emergency turning avoiding action of the ELK function in a meeting scene are improved, and the user experience is enhanced.

Description

Vehicle meeting avoidance method and device, vehicle and storage medium

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a method and an apparatus for avoiding a meeting of a vehicle, and a storage medium.

Background

In the vehicle driving process, when a scene that no guardrail exists in the middle of a vehicle road is faced, vehicles running in opposite directions can be avoided in time under the condition that the vehicles running in opposite directions borrow the lane, collision can be avoided, and driving safety is improved.

In the related art, an automatic Emergency Lane steering avoidance function (ELK for short) is generally implemented by identifying an opposite target through a forward-looking camera, a front millimeter wave radar, a forward angle radar and other vehicle-mounted sensors, and then planning steering of a current vehicle and controlling the vehicle in a current Lane to avoid collision.

However, the method depends on the performance of the sensor, and the whole process from target sensing to target screening to target confirmation exists in a certain time delay and instability (for example, target identification jump), so that the triggering time of the function is influenced, collision cannot be avoided effectively, and a solution is needed urgently.

Disclosure of Invention

The application provides a vehicle meeting avoidance method, a vehicle meeting avoidance device, a vehicle and a storage medium, which are used for solving the problems that information of a current vehicle and an opposite driving vehicle cannot be interacted in time, and the steering and braking of the vehicle cannot be planned and controlled in time according to related information of the opposite vehicle, the current vehicle information and sensor information, so that the current vehicle and the opposite vehicle are effectively prevented from colliding.

An embodiment of a first aspect of the present application provides a method for avoiding a vehicle meeting, including the following steps:

receiving Vehicle-to-Vehicle (V2V) driving information sent by an opposite Vehicle;

acquiring sensing driving information of the opposite vehicle when the fact that the current vehicle and the opposite vehicle have lane invasion risks is judged according to the V2V driving information; and

and fusing the V2V running information and the sensing running information, and controlling the current vehicle to execute an emergency lane keeping ELK function to perform emergency braking and steering to avoid the opposite vehicle when the fusion result shows that the current vehicle and the opposite vehicle have collision risks.

According to the technical means, the vehicle-mounted 77GHz frequency band millimeter wave radar is adopted to realize V2V communication, information interaction between the current vehicle and the opposite running vehicle is further realized, information fusion is realized with the sensor sensing information, and the accuracy rate and the triggering time of the ELK are improved.

Further, the determining that the current vehicle and the oncoming vehicle have a lane intrusion risk according to the V2V driving information includes:

judging whether the opposite vehicle has a tendency of invading the lane where the current vehicle is located or not according to the V2V running information or not, or judging whether the current vehicle has a tendency of invading the lane where the opposite vehicle is located or not;

and if the opposite vehicle has a tendency of invading the lane where the current vehicle is located or the current vehicle has a tendency of invading the lane where the opposite vehicle is located, judging that the current vehicle and the opposite vehicle have lane invasion risks.

According to the technical means, whether the current vehicle and the opposite vehicle have collision risks or not is judged according to the V2V running information, and the accuracy of executing the emergency avoidance action is improved.

Further, after fusing the V2V driving information and the sensing driving information, the method further includes:

and if the fusion result shows that the current vehicle and the opposite vehicle do not have collision risks, controlling the current vehicle to inhibit the ELK function.

According to the technical means, when the current vehicle and the opposite vehicle are judged to have no collision risk, the current vehicle can be controlled to inhibit the ELK function through the ELK decision control module, and the user experience is enhanced.

Further, the V2V running information includes the speed, the lateral longitudinal acceleration, the turning angle information of the oncoming vehicle, and the relative speed, the relative acceleration, the relative position, the relative distance of the current vehicle identified by the oncoming vehicle.

According to the technical means, the form states of the current vehicle and the opposite vehicle can be judged by receiving the V2V running information, so that the triggering time and the accuracy of the vehicle meeting function are improved.

Further, before receiving the V2V running information transmitted from the oncoming vehicle, the method further includes:

and starting an ELK function of the current vehicle.

According to the technical means, the emergency steering avoidance action can be executed in the meeting scene of the current vehicle and the opposite vehicle only by starting the ELK function in advance.

An embodiment of a second aspect of the present application provides a vehicle crossing avoiding device, including:

the vehicle-to-vehicle V2V driving information receiving module is used for receiving vehicle-to-vehicle V2V driving information sent by an opposite vehicle;

the acquisition module is used for acquiring the sensing driving information of the opposite vehicle when judging that the current vehicle and the opposite vehicle have the lane invasion risk according to the V2V driving information; and

and the control module is used for fusing the V2V running information and the sensing running information and controlling the current vehicle to execute an emergency lane keeping ELK function so as to avoid the opposite vehicle by emergency braking and steering when the fusion result shows that the current vehicle and the opposite vehicle have collision risks.

Further, the obtaining module is specifically configured to:

and if the opposite vehicle has a tendency of invading the lane where the current vehicle is located, or the current vehicle has a tendency of invading the lane where the opposite vehicle is located 5, judging that the current vehicle and the opposite vehicle have a lane invasion risk.

Further, after fusing the V2V driving information and the sensing driving information, the control module is further configured to:

and if the fusion result indicates that the current vehicle and the opposite vehicle have no collision risk, controlling the current vehicle to inhibit the ELK function.

0 further, the V2V running information includes the speed, the lateral longitudinal acceleration, the turning angle information of the oncoming vehicle, and

and the relative speed, the relative acceleration, the relative position and the relative distance of the current vehicle identified by the opposite vehicle.

Further, before receiving the V2V running information transmitted by the oncoming vehicle, the receiving module is further configured to:

and starting the ELK function of the current vehicle.

An embodiment of a third aspect of the present application provides a vehicle, comprising: memory, processor and memory stored on the memory

And a computer program that can be run on the processor, and the processor executes the program to implement the method for avoiding a vehicle crossing as described in the above embodiment.

A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the program is executed by a processor to implement the method for avoiding a meeting of a vehicle as described in the foregoing embodiments.

0 therefore, the communication load of realizing V2V is realized by adopting the vehicle-mounted 77GHz frequency band millimeter wave radar, namely

The information interaction between the current vehicle and the opposite vehicle is realized, and the driving information of the opposite vehicle is fused with the sensor sensing information, so that the triggering time and the accuracy of the execution of the emergency steering avoiding action of the ELK function in the opposite vehicle meeting scene are improved, and the collision is effectively avoided.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent from the following description of the embodiments, which is to be read in connection with the accompanying drawings

As will be readily appreciated, wherein:

fig. 1 is a flowchart of a method for avoiding a vehicle meeting provided in an embodiment of the present application;

FIG. 2 is a schematic view of a scene simulation according to an embodiment of the present application;

fig. 3 is a block diagram illustrating a vehicle crossing avoidance apparatus according to an embodiment of the present application;

FIG. 4 is a block diagram of hardware of a V2V millimeter wave radar according to one embodiment of the present application;

fig. 5 is a block diagram schematically illustrating a vehicle crossing avoidance apparatus according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Description of reference numerals: 10-a vehicle meeting avoidance device, 100-a receiving module, 200-an obtaining module, 300-a control module, 601-a memory, 602-a processor and 603-a communication interface.

Detailed Description

Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

A vehicle crossing avoidance method and apparatus, a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the drawings.

Before introducing the method for avoiding vehicle crossing provided by the embodiment of the application, a vehicle crossing avoiding technology in the related art is simply introduced.

In the related art, the remote V2V communication technology at home and abroad is generally a direct connection communication means based on pc5 or uu communication transmission technology based on cellular base stations.

However, the former requires a communication chip module and an antenna to be mounted on the vehicle, which results in an increase in hardware cost; the latter depends on the intensity of communication signals, and in signal shielding areas such as tunnels and garages, vehicle communication cannot be interacted in time, so that signal receiving is delayed and even interrupted.

In view of the above problems, the present application provides a method for avoiding a vehicle meeting, in which when it is determined that there is a risk of lane intrusion between a current vehicle and an oncoming vehicle according to received vehicle-to-vehicle V2V driving information transmitted by the oncoming vehicle, sensing driving information of the oncoming vehicle is acquired, the V2V driving information and the sensing driving information are fused, and when the fusion result is that there is a risk of collision between the current vehicle and the oncoming vehicle, the current vehicle is controlled to perform an emergency lane keeping ELK function, so as to avoid the oncoming vehicle by emergency braking and steering. Therefore, the problems that information of the current vehicle and the opposite-direction running vehicle cannot be interacted in time, and the vehicle can not be planned and controlled to turn and brake in time when facing collision risks are solved, the triggering opportunity and the accuracy of execution of the emergency turning avoiding action of the ELK function in a meeting scene are improved, and the user experience is enhanced.

Specifically, fig. 1 is a flowchart of a method for avoiding a meeting of a vehicle according to an embodiment of the present disclosure.

As shown in fig. 1, the vehicle crossing avoiding method includes the following steps:

in step S101, vehicle-to-vehicle V2V running information issued to the oncoming vehicle is received.

The V2V running information sent to the opposite vehicle is mainly communicated through a vehicle-mounted 77GHz frequency band millimeter wave radar.

It can be understood that, when the vehicle is running in the current lane and the adjacent lane are in a passable state, as shown in fig. 2, a in the figure is an oncoming vehicle, b is the current vehicle, and the vehicle-mounted 77GHz band millimeter wave radar is used as the radar

In order to realize the load of V2V communication, the communication of millimeter waves of the same wave band can be set through frequency modulation. In addition, the radar hardware itself 5 includes a transceiver antenna and a CAN (Controller Area Network) communication module, which CAN save hardware

A cost, secondly, realize V2V communication through on-vehicle millimeter wave radar, do not receive influence such as topography, basic station arrangement, can guarantee signal reception's real-time and stability.

Further, in some embodiments, the V2V driving information includes the speed, the lateral longitudinal acceleration, the turning angle information of the oncoming vehicle, and the relative speed, the relative acceleration, the relative position, and the relative distance of the current vehicle identified by the oncoming vehicle.

In addition, the embodiment of the present application may further receive the status of an auxiliary safety function of the oncoming vehicle, such as an AEB (automatic Braking system), an ELK, and the like, and may perform or suppress lateral control of the ELK function of the current vehicle according to the motion of the oncoming vehicle, so as to enhance the user experience.

Further, in some embodiments, before receiving the V2V running information transmitted to the oncoming vehicle, the method further includes: and starting the ELK function of the current vehicle.

That is, after the current vehicle is started, the ELK function needs to be normally turned on.

In step S102, when it is determined that there is a risk of lane intrusion between the subject vehicle and the oncoming vehicle based on the V2V travel information, the sensed travel information of the oncoming vehicle is acquired.

The sensing travel information of the oncoming vehicle includes information such as a relative vehicle speed, a relative acceleration, a relative position, and a relative distance of the oncoming vehicle.

Further, in some embodiments, it is determined that the current vehicle and the oncoming vehicle have lanes according to the V2V driving information

Risk of intrusion, including: judging whether the oncoming vehicle has a tendency of invading the lane where the current vehicle is located or not according to the V2V driving information, or whether the current vehicle has a tendency of invading the lane where the oncoming vehicle is located; and if the opposite vehicle has a tendency of invading the lane where the current vehicle is located or the current vehicle has a tendency of invading the lane where the opposite vehicle is located, judging that the current vehicle and the opposite vehicle have lane invasion risks.

Specifically, when the oncoming vehicle intrudes into the lane where the present vehicle is located, or the present vehicle has a vehicle where the oncoming vehicle is located

When the lane is deviated, it is judged that the current vehicle and the opposite vehicle have lane invasion risks, and the embodiment of the application can confirm information such as relative speed, relative acceleration, relative position, relative distance and the like of the opposite vehicle through an ELK planning and ELK decision control module according to sensors such as a forward-looking camera, a forward millimeter wave radar and an angle radar which are configured on the current vehicle.

In step S103, fusing the V2V driving information and the sensing driving information, and controlling the current vehicle to execute an emergency lane keeping ELK function to perform emergency braking, steering and avoiding when the fusion result is that the current vehicle has collision risk with the 0-direction vehicle

An oncoming vehicle.

Specifically, the sensing running information of the oncoming vehicle is calculated and then fused and compared with the V2V running information, that is, the embodiment of the present invention predicts the motion trajectory of the oncoming vehicle according to various executed actions of the oncoming vehicle during driver driving or automatic driving, such as whether the oncoming vehicle has executed steering, braking actions, etc., so as to determine whether to make decision control, and generally controls the steering motor to perform lateral control of the current vehicle through the steering control unit, so as to avoid the predicted collision path and implement emergency braking steering avoidance.

Further, in some embodiments, after fusing the V2V driving information and the sensed driving information, the method further includes: and if the fusion result is that the current vehicle and the opposite vehicle do not have collision risk, controlling the current vehicle to inhibit the ELK function.

Specifically, if it is predicted that the probability that the current vehicle will not collide with the oncoming vehicle is extremely high, the function of controlling the current vehicle to suppress the ELK is performed; otherwise, the function of the ELK is executed. Therefore, the method and the device achieve the purposes of improving the accuracy of the ELK and triggering the opportunity through the comprehensive judgment.

In order to further understand the vehicle crossing avoidance method of the vehicle according to the embodiment of the present application, the following description is made in detail with reference to fig. 3 and 4.

Further, as shown in fig. 3, fig. 3 is a schematic block diagram of a vehicle crossing avoidance apparatus according to an embodiment of the present application, where an opposing vehicle includes a power module and a 77GHz millimeter wave radar; the current vehicle comprises a power supply module, a 77GHz millimeter wave radar, a vehicle-mounted sensor, a perception fusion module, an ELK decision control module, a steering control unit and a steering control motor.

It can be understood that, this application embodiment is through the vehicle-mounted sensor who realizes vehicle meeting (ELK-oncom) function scene demand in the past, generally forward millimeter wave radar, the forward looking camera, forward left/right angle radar, the control unit, turn to the control unit, on the basis of turn to the control motor, change ordinary forward millimeter wave radar into the forward millimeter wave radar that possesses V2V communication function, compare with ordinary forward millimeter wave radar, the forward millimeter wave radar that possesses V2V communication function no longer need additionally increase the number and the arrangement of transmitting antenna and receiving antenna, practice thrift the cost.

Further, as shown in fig. 4, fig. 4 is a schematic block diagram of hardware of a V2V millimeter wave radar according to an embodiment of the present application, and includes a transceiver, a processor, a CAN transceiver module, and a power management module, where the transceiver includes a radar radio frequency front end, a radar digital front end, and a communication chip module, and the radar radio frequency front end includes a transmitting antenna and a receiving antenna; the processor includes a digital processing module.

It can be understood that compared with the common forward millimeter wave radar, the V2V millimeter wave radar hardware is added with a communication chip module, thereby realizing wireless communication through the microwave of 77GHz frequency band and completing the receiving and sending of information. Because the transceiving time of the communication electromagnetic wave carrying the V2V is shorter than that of the electromagnetic wave of the radar detection target object, the transceiving of the communication electromagnetic wave carrying the V2V can be processed during the time interval of the radar transceiving the electromagnetic wave of the detection target object, and thus, the normal target detection function of the radar cannot be influenced.

In addition, the detection and identification of the target object can be completed only by the ordinary millimeter wave radar after the transmitted electromagnetic wave is reflected by the target object and then the radar receives the reflected electromagnetic wave, because the energy loss of the electromagnetic wave transmitted in the air generally does not exceed 200m, the millimeter wave radar with the 77GHz frequency band detects the target, and the millimeter wave radar with the V2V function only needs to transmit and receive the electromagnetic wave carrying the V2V information once, and theoretically, the radar can receive the electromagnetic wave carrying the V2V information transmitted by the opposite vehicle and having the distance of more than 400 m.

Compared with the traditional ELK-Onconing function of identifying the opposite vehicle through the sensor, the V2V communication technology adopting the millimeter wave radar can realize the identification of the opposite vehicle outside the distance more than twice of the original base distance, track and identify the motion state of the opposite vehicle, thereby being capable of controlling the path planning and the transverse control of the current vehicle more quickly when the collision danger occurs, and improving the triggering time of the ELK function to avoid the collision.

According to the vehicle meeting avoidance method provided by the embodiment of the application, when the fact that the current vehicle and the opposite vehicle have the lane invasion risk is judged according to the received vehicle-to-vehicle V2V running information sent by the opposite vehicle, the sensing running information of the opposite vehicle is obtained, the V2V running information and the sensing running information are fused, and when the fusion result shows that the current vehicle and the opposite vehicle have the collision risk, the current vehicle is controlled to execute the emergency lane keeping ELK function so as to perform emergency braking and steering to avoid the opposite vehicle. Therefore, the problems that the information of the current vehicle and the opposite-direction running vehicle cannot be interacted in time, the vehicle steering and braking cannot be planned and controlled in time when the collision risk is faced and the like are solved, the triggering opportunity and accuracy of the execution of the emergency steering avoiding action of the ELK function in the meeting scene are improved, and the user experience is enhanced.

Next, a vehicle crossing avoidance apparatus according to an embodiment of the present application will be described with reference to the drawings.

Fig. 5 is a block diagram schematically illustrating a vehicle crossing avoidance apparatus according to an embodiment of the present invention.

As shown in fig. 5, the vehicle crossing avoidance device 10 includes: a receiving module 100, an obtaining module 200 and a control module 300.

The receiving module 100 is used for receiving vehicle-to-vehicle V2V driving information sent by an oncoming vehicle;

the acquisition module 200 is configured to acquire sensing driving information of an oncoming vehicle when it is determined that a lane invasion risk exists between a current vehicle and the oncoming vehicle according to the V2V driving information; and

and the control module 300 is used for fusing the V2V running information and the sensing running information, and controlling the current vehicle to execute an emergency lane keeping ELK function to perform emergency braking and steering to avoid the opposite vehicle when the fusion result is that the current vehicle and the opposite vehicle have collision risks.

Further, in some embodiments, the obtaining module 200 is specifically configured to:

judging whether the oncoming vehicle has a tendency of invading the lane where the current vehicle is located or not according to the V2V driving information, or whether the current vehicle has a tendency of invading the lane where the oncoming vehicle is located;

Further, in some embodiments, after fusing the V2V driving information and the sensed driving information, the control module 300 is further configured to:

and if the fusion result is that the current vehicle and the opposite vehicle do not have collision risk, controlling the current vehicle to inhibit the ELK function.

Further, in some embodiments, the V2V driving information includes the speed, the lateral longitudinal acceleration, the turning angle information of the oncoming vehicle, and the relative speed, the relative acceleration, the relative position, the relative distance of the oncoming vehicle identified to the current vehicle.

Further, in some embodiments, before receiving the V2V driving information sent by the oncoming vehicle, the receiving module 100 is further configured to:

and starting the ELK function of the current vehicle.

It should be noted that the foregoing explanation of the embodiment of the vehicle crossing avoidance method is also applicable to the vehicle crossing avoidance device of the embodiment, and details are not repeated here.

According to the vehicle crossing avoiding device provided by the embodiment of the application, when the fact that the current vehicle and the opposite vehicle have the lane invasion risk is judged according to the received vehicle-to-vehicle V2V running information sent by the opposite vehicle, the sensing running information of the opposite vehicle is obtained, the V2V running information and the sensing running information are fused, and when the fusion result shows that the current vehicle and the opposite vehicle have the collision risk, the current vehicle is controlled to execute the emergency lane keeping ELK function so as to be braked and steered to avoid the opposite vehicle in an emergency mode. Therefore, the problems that information of the current vehicle and the opposite-direction running vehicle cannot be interacted in time, and the vehicle can not be planned and controlled to turn and brake in time when facing collision risks are solved, the triggering opportunity and the accuracy of execution of the emergency turning avoiding action of the ELK function in a meeting scene are improved, and the user experience is enhanced.

Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

memory 601, processor 602, and computer programs stored on memory 601 and executable on processor 602.

The processor 602 executes the program to implement the vehicle crossing avoidance method provided in the above embodiment.

Further, the vehicle further includes:

a communication interface 603 for communication between the memory 601 and the processor 602.

The memory 601 is used for storing computer programs that can be run on the processor 602.

The Memory 601 may include a high-speed RAM (Random Access Memory) Memory, and may also include a non-volatile Memory, such as at least one disk Memory.

If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 6, but this is not intended to represent only one bus or type of bus.

Optionally, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a chip, the memory 601, the processor 602, and the communication interface 603 may complete mutual communication through an internal interface.

The processor 602 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement the method for avoiding the vehicle meeting as above.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array, a field programmable gate array, or the like.

It will be understood by those skilled in the art that all or part of the steps carried out in the method for implementing the above embodiment may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiment.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A vehicle meeting avoiding method of a vehicle is characterized by comprising the following steps:

receiving vehicle-to-vehicle V2V driving information sent by an opposite vehicle;

acquiring the sensing driving information of the opposite vehicle when judging that the current vehicle and the opposite vehicle have lane invasion risks according to the V2V driving information; and

2. The method according to claim 1, wherein the determining that the current vehicle and the oncoming vehicle have the risk of lane intrusion according to the V2V driving information includes:

and if the opposite vehicle has a tendency of invading the lane where the current vehicle is located or the current vehicle has a tendency of invading the lane where the opposite vehicle is located, judging that the current vehicle and the opposite vehicle have a lane invasion risk.

3. The method of claim 1, further comprising, after fusing the V2V driving information and the sensed driving information:

4. The method according to claim 1, wherein the V2V running information includes the oncoming vehicle speed, the lateral longitudinal acceleration, the turning angle information, and the relative vehicle speed, the relative acceleration, the relative position, the relative distance of the current vehicle identified by the oncoming vehicle.

5. The method according to any one of claims 1 to 4, characterized by, before receiving the V2V running information issued by the oncoming vehicle, further comprising:

and starting an ELK function of the current vehicle.

6. An apparatus for avoiding a vehicle meeting, comprising:

the acquisition module is used for acquiring the sensing driving information of the opposite vehicle when the fact that the current vehicle and the opposite vehicle have lane invasion risks is judged according to the V2V driving information; and

7. The apparatus of claim 6, wherein the obtaining module is specifically configured to:

8. The apparatus of claim 6, wherein after fusing the V2V driving information and the sensory driving information, the control module is further configured to:

9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement a method of avoiding a vehicle crossing according to any one of claims 1 to 5.

10. A computer-readable storage medium having stored thereon a computer program, the program being executable by a processor for implementing a method for avoiding a meeting of a vehicle as claimed in any one of claims 1 to 5.