CN116740984B

CN116740984B - Vehicle plug processing method and device, electronic equipment and storage medium

Info

Publication number: CN116740984B
Application number: CN202310590653.9A
Authority: CN
Inventors: 郑晨飞
Original assignee: Guangzhou Automobile Group Co Ltd
Current assignee: Guangzhou Automobile Group Co Ltd
Priority date: 2023-05-23
Filing date: 2023-05-23
Publication date: 2024-06-11
Anticipated expiration: 2043-05-23
Also published as: CN116740984A

Abstract

The application provides a vehicle plug processing method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: if the existence of the plugged vehicle is detected within the preset range of the own vehicle, acquiring the current position information of the own vehicle, the current position information of the plugged vehicle, the relative course angle of the own vehicle and the plugged vehicle and the relative vehicle speed; determining a target position of the collision between the self vehicle and the plugged vehicle according to the current position information of the self vehicle, the current position information of the plugged vehicle, the relative course angle and the relative vehicle speed, and determining first predicted position information of the plugged vehicle and second predicted position information of the self vehicle; determining the transverse overlapping rate of the stoppered vehicle and the own vehicle according to the first predicted position information and the second predicted position information; and determining a stuffing processing strategy according to the transverse overlapping rate and the transverse overlapping rate threshold value. The application determines the corresponding plugging processing strategy according to the transverse overlapping rate between the plugged vehicle and the self-vehicle, thereby ensuring the safe running of the self-vehicle when the vehicle is plugged.

Description

Vehicle plug processing method and device, electronic equipment and storage medium

Technical Field

The present application relates to the field of intelligent driving technologies, and in particular, to a vehicle plug processing method, device, electronic apparatus, and storage medium.

Background

Along with the continuous perfection of the basic construction of China, the road network is more and more convenient and dense, meanwhile, the number of motor vehicles is also increased, and partial motor vehicle drivers do not strictly observe the traffic rules when driving the motor vehicles, so that the traffic safety problem is also increasingly outstanding. In recent years, in order to improve driving safety and reduce driving load, the function of a driving assistance system is gradually assembled and used for loading, but the current driving assistance system cannot well cope with complex road conditions and driving behaviors, especially for the situation that a vehicle is plugged, so how to ensure safe driving of the vehicle and simultaneously carry out plugging processing in the situation that other vehicles are plugged in the driving process of the vehicle is a problem to be solved.

Disclosure of Invention

In view of the above, the embodiments of the present application provide a method, an apparatus, an electronic device and a storage medium for processing vehicle jam, so as to improve the above-mentioned problems.

According to a first aspect of an embodiment of the present application, there is provided a vehicle plug processing method, the method including: if the existence of the plugged vehicle is detected within the preset range of the own vehicle, acquiring the current position information of the own vehicle, the current position information of the plugged vehicle, the relative course angle and the relative vehicle speed of the own vehicle and the plugged vehicle; determining a target position of the self-vehicle, at which the self-vehicle collides with the plug-in vehicle, according to the current position information of the self-vehicle, the current position information of the plug-in vehicle, the relative course angle and the relative vehicle speed, and determining first predicted position information of the plug-in vehicle at the target position and second predicted position information of the self-vehicle at the target position; determining a lateral overlap ratio of the stoppered vehicle and the own vehicle according to the first predicted position information and the second predicted position information; and determining a plugging processing strategy according to the magnitude relation between the transverse overlapping rate and the transverse overlapping rate threshold value, and controlling the vehicle speed according to the plugging processing strategy.

According to a first aspect of the embodiment of the present application, the determining, according to the first predicted position information and the second predicted position information, a lateral overlap ratio of the plugged vehicle and the self vehicle includes: determining a first target point of the stoppered vehicle according to the first predicted position information, and determining a second target point and a third target point of the own vehicle according to the second predicted position information, wherein the first target point is a point adjacent to the own vehicle in two points corresponding to the head of the stoppered vehicle, and the second target point and the third target point are two points corresponding to the head of the own vehicle; and respectively determining the transverse coordinates of the first target point, the transverse coordinates of the second target point and the transverse coordinates of the third target point, and determining the transverse overlapping rate according to the transverse coordinates of the first target point, the transverse coordinates of the second target point and the transverse coordinates of the third target point. According to the embodiment, the transverse overlapping rate is determined according to the second target point and the third target point corresponding to the second predicted position of the own vehicle at the target position and the first target point corresponding to the first predicted position information of the plugging vehicle at the target position, so that the accuracy of the transverse overlapping rate is ensured, the accuracy of the plugging processing strategy determination is further improved, and the safe running of the own vehicle is ensured.

According to a first aspect of the embodiment of the present application, the determining a plugging processing strategy according to the magnitude relation between the lateral overlap rate and the lateral overlap rate threshold, and performing vehicle speed control according to the plugging processing strategy, includes: if the transverse overlapping rate is smaller than the transverse overlapping rate threshold, determining that the plugging processing strategy is a first plugging processing strategy, and performing acceleration control according to the first plugging processing strategy; and if the transverse overlapping rate is equal to or greater than the transverse overlapping rate threshold, determining that the strategy is a second plugging processing strategy, and performing deceleration control according to the second plugging processing strategy. According to the embodiment, the specific strategy of the plugging behavior of the vehicle to the plugged vehicle is determined according to the size relation between the transverse overlapping rate and the transverse overlapping rate, so that the plugging processing strategy of the vehicle to different scenes is enriched.

According to a first aspect of the embodiment of the present application, if the lateral overlap ratio is smaller than a lateral overlap ratio threshold, determining that the plugging processing policy is a first plugging processing policy, and performing acceleration control according to the first plugging processing policy includes: if the transverse overlap rate is smaller than the transverse overlap rate threshold, determining a transverse distance from the current position of the stoppered vehicle to the target position, and determining a target duration according to the transverse speed of the stoppered vehicle and the transverse distance, wherein the target duration is a duration from the current position of the stoppered vehicle to the target position; determining the longitudinal distance of the corked vehicle moving in the target duration according to the target duration and the longitudinal speed of the corked vehicle; and acquiring a safety distance, determining target acceleration according to the safety distance, the longitudinal speed of the plug-in vehicle, the longitudinal speed of the self vehicle and the target time length, and performing acceleration control on the self vehicle according to the target acceleration, wherein the safety distance is the minimum distance between the self vehicle and the plug-in vehicle in the longitudinal direction. After the specific strategy is determined, the acceleration of the specific strategy is determined according to the transverse speed and the longitudinal speed of the plugged vehicle and the safety distance for ensuring the safe running of the self-vehicle, so that the accuracy of the self-vehicle on the plugging behavior is improved while the safe running of the vehicle is ensured.

According to a first aspect of the embodiment of the present application, if the lateral overlap ratio is equal to or greater than the lateral overlap ratio threshold, determining that the policy is a second plugging processing policy, and performing deceleration control according to the second plugging processing policy includes: if the transverse overlap rate is equal to or greater than the transverse overlap rate threshold, determining a transverse distance from the current position of the stoppered vehicle to the target position, and determining a target duration according to the transverse speed of the stoppered vehicle and the transverse distance, wherein the target duration is a duration from the current position of the stoppered vehicle to the target position; determining the longitudinal distance of the corked vehicle moving in the target duration according to the target duration and the longitudinal speed of the corked vehicle; and acquiring a safety distance, determining a target deceleration according to the safety distance, the longitudinal speed of the plug-in vehicle, the longitudinal speed of the self vehicle and the target time length, and performing deceleration control on the self vehicle according to the target deceleration, wherein the safety distance is the minimum distance between the self vehicle and the plug-in vehicle in the longitudinal direction. After the specific strategy is determined, the deceleration of the specific strategy is determined according to the transverse speed and the longitudinal speed of the plugged vehicle and the safety distance for ensuring the safe running of the self-vehicle, so that the accuracy of the self-vehicle on the plugging behavior is improved while the safe running of the vehicle is ensured.

According to a first aspect of the embodiment of the present application, the determining, according to the current location information of the own vehicle, the current location information of the plugged vehicle, the relative heading angle, and the relative vehicle speed, a target location where the own vehicle collides with the plugged vehicle, and determining first predicted location information of the plugged vehicle at the target location and second predicted location information of the own vehicle at the target location, includes: determining a first predicted running track of the self-vehicle according to the current position information of the self-vehicle and the relative course angle, and determining a second predicted running track of the plug-in vehicle according to the current position information of the plug-in vehicle and the relative course angle; if the first predicted running track and the second predicted running track are determined to have the intersection point, determining the intersection point of the first predicted running track and the second predicted running track as the target position; the first predicted location information and the second predicted location information are determined based on the target location. According to the embodiment, whether the collision occurs between the self vehicle and the stoppered vehicle is determined by determining whether the first predicted running track and the second predicted running track have the intersection, and the first predicted position information and the second predicted position information are determined according to the target position when the intersection exists, so that the accuracy of processing the stoppered behavior of the self vehicle is ensured, the first predicted position information and the second predicted position information are determined only when the self vehicle collides with the stoppered vehicle, the accuracy of stoppered processing of the self vehicle is improved, and the waste of resources is avoided.

According to a first aspect of the embodiment of the present application, if the presence of a plugged vehicle is detected within a preset range of a self-vehicle, before the current location information of the self-vehicle, the current location information of the plugged vehicle, the relative heading angle and the relative vehicle speed of the self-vehicle and the plugged vehicle are obtained, the method further includes: acquiring a current course angle of the own vehicle and a current course angle of a reference vehicle in a preset detection range of the own vehicle, and determining a course angle difference between the current course angle of the own vehicle and the current course angle of the reference vehicle; determining a transverse distance between the own vehicle and the reference vehicle within a preset duration; and if the heading angle difference is smaller than a heading angle threshold value and the transverse distance between the vehicle and the reference vehicle is continuously reduced within the preset duration, determining that the reference vehicle has a plugging intention, and determining the reference vehicle as the plugged vehicle. According to the method and the device for determining the plugging intention, whether the reference vehicle has the plugging intention or not is determined according to the course angle difference between the own vehicle and the reference vehicle in the prediction detection range of the own vehicle and the transverse distance in the preset time period, the reference vehicle is determined to be the plugging vehicle when the plugging intention is determined to exist, and accuracy of determining the plugging vehicle is improved.

According to a second aspect of an embodiment of the present application, there is provided a vehicle plug processing apparatus, the apparatus including: the acquisition module is used for acquiring current position information of the own vehicle, current position information of the plugged vehicle, relative course angles of the own vehicle and the plugged vehicle and relative vehicle speed if the plugged vehicle is detected to exist in a preset range of the own vehicle; the predicted position information determining module is used for determining a target position of the collision between the self vehicle and the stoppered vehicle according to the current position information of the self vehicle, the current position information of the stoppered vehicle, the relative course angle and the relative vehicle speed, and determining first predicted position information of the stoppered vehicle at the target position and second predicted position information of the self vehicle at the target position; the transverse overlapping rate determining module is used for determining the transverse overlapping rate of the stoppered vehicle and the own vehicle according to the first predicted position information and the second predicted position information; and the plugging processing strategy determining module is used for determining a plugging processing strategy according to the magnitude relation between the transverse overlapping rate and the transverse overlapping rate threshold value and controlling the vehicle speed according to the plugging processing strategy.

According to a third aspect of an embodiment of the present application, there is provided an electronic apparatus including: a processor; and a memory having stored thereon computer readable instructions which, when executed by the processor, implement a vehicle plug processing method as described above.

According to a fourth aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon computer-readable instructions which, when executed by a processor, implement a method of handling vehicle congestion as described above.

In the scheme of the application, when the plugged vehicle is detected in the prediction range of the self vehicle, the target position of the collision of the self vehicle and the plugged vehicle is determined according to the current position information of the self vehicle, the current position information of the plugged vehicle, the relative course angles of the self vehicle and the plugged vehicle and the relative vehicle speed, the second prediction position information of the self vehicle at the target position and the first prediction position information of the plugged vehicle at the target position are determined, and the transverse overlapping rate between the self vehicle and the plugged vehicle can be determined according to the first prediction position information and the second prediction position information, so that the plugging processing strategy of the plugging behavior of the self vehicle for the plugged vehicle can be determined according to the transverse overlapping rate, and the self vehicle is controlled according to the determined plugging processing strategy. According to the application, under the condition that the plugged vehicle is determined to exist, the corresponding plugging processing strategy is determined according to the transverse overlapping rate between the plugged vehicle and the own vehicle, so that the plugging processing strategies of the vehicle aiming at different scenes are enriched, the situation that the plugged vehicle with the plugging intention is braked and avoided under any condition is avoided, and the safe running of the own vehicle when the plugged vehicle is plugged is ensured.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a flow chart illustrating a vehicle jam processing method according to an embodiment of the present application.

Fig. 2 is a flow chart illustrating a vehicle jam processing method according to another embodiment of the present application.

Fig. 3 is a schematic diagram illustrating a lateral overlap ratio according to an embodiment of the present application.

Fig. 4 is a flow chart illustrating a vehicle jam processing method according to still another embodiment of the present application.

FIG. 5 is a flow chart illustrating specific steps of step 340 according to an embodiment of the present application.

Fig. 6 is a flow chart illustrating specific steps of step 350 according to an embodiment of the present application.

Fig. 7 is a flow chart showing a vehicle jam processing method according to still another embodiment of the present application.

FIG. 8 is a schematic diagram illustrating determining a target position according to an embodiment of the application.

Fig. 9 is a flow chart showing a vehicle jam processing method according to still another embodiment of the present application.

Fig. 10 is a block diagram of a vehicle plugged processing device according to an embodiment of the present application.

Fig. 11 is a hardware configuration diagram of an electronic device according to an embodiment of the present application.

There has been shown in the drawings, and will hereinafter be described, specific embodiments of the invention with the understanding that the present disclosure is to be considered in all respects as illustrative, and not restrictive, the scope of the inventive concepts being limited to the specific embodiments shown and described.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application may be practiced without one or more of the specific details, or with other methods, apparatus, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.

The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices. The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.

Referring to fig. 1, fig. 1 illustrates a vehicle plugging processing method according to an embodiment of the present application, and in a specific embodiment, the vehicle plugging processing method may be applied to a vehicle plugging processing device 600 shown in fig. 10 and an electronic apparatus 700 (fig. 11) configured with the vehicle plugging processing device 600. The specific flow of the present embodiment will be described below, and it will be understood that the method may be performed by an electronic device having computing processing capability, such as a server, a smart phone communicatively connected to a vehicle, a smart wearable device, a vehicle processor, etc., and is not limited in detail herein. The following describes the flow shown in fig. 1 in detail, and the vehicle plugging processing method specifically includes the following steps:

step 110, if the presence of the plugged vehicle is detected within the preset range of the own vehicle, acquiring the current position information of the own vehicle, the current position information of the plugged vehicle, the relative course angle and the relative vehicle speed of the own vehicle and the plugged vehicle.

In order to ensure safe running of the vehicle, whether the vehicle is plugged or not can be detected within a preset range of the vehicle, so that plugging processing can be timely carried out when the vehicle is plugged, and collision between the vehicle and the plugged vehicle is avoided. Alternatively, the preset range may be the maximum range that can be detected by the sensing module of the own vehicle. The sensing module of the vehicle may include a processor and various sensors therein. Alternatively, the sensors may include a visual sensor, an infrared sensor, a radar sensor, a millimeter wave sensor, etc., and the kind and number of the sensors in the sensing module may be set according to actual needs, which are not particularly limited herein.

As one way, the current position information of the vehicle can be obtained through the positioning module of the vehicle, and the current position information of the plugged vehicle can be determined through data fusion of the positioning data of the positioning module and the visual sensing data of the visual sensor in the sensing module. Alternatively, the relative course angle and the relative vehicle speed of the own vehicle and the plugged vehicle may be obtained through a sensing module of the own vehicle, for example, the current vehicle speed and the current course angle of the plugged vehicle are determined through a radar sensor in the sensing module of the own vehicle, and the current course angle and the current vehicle speed of the own vehicle are obtained through the sensing module, so that the relative course angle and the relative vehicle speed of the own vehicle and the plugged vehicle are determined based on the current course angle and the current vehicle speed of the own vehicle and the current course angle and the current vehicle speed of the plugged vehicle.

And 120, determining a target position of the collision between the self vehicle and the stoppered vehicle according to the current position information of the self vehicle, the current position information of the stoppered vehicle, the relative course angle and the relative vehicle speed, and determining first predicted position information of the stoppered vehicle at the target position and second predicted position information of the self vehicle at the target position.

As one approach, the auxiliary driving system of the own vehicle may determine the driving trajectory and the predicted driving trajectory of the own vehicle based on the current position information of the own vehicle and the current heading angle and the current vehicle speed of the own vehicle, and determine the driving trajectory and the predicted driving trajectory of the stoppered vehicle based on the current position information of the stoppered vehicle and the relative heading angle and the relative vehicle speed between the own vehicle and the stoppered vehicle. Determining whether collision occurs between the self-vehicle and the stoppered vehicle according to the current course angle and the current vehicle speed based on the predicted running track of the self-vehicle and the predicted running track of the stoppered vehicle, further determining a target position of collision according to the predicted running track of the self-vehicle and the predicted running track of the stoppered vehicle under the condition of determining collision, and respectively determining second predicted position information of the self-vehicle at the target position and first predicted position information of the stoppered vehicle at the target position according to the target position.

Alternatively, the first predicted position information may include specific coordinate values of four corner points of the vehicle body dimension of the stoppered vehicle at the target position, the second predicted position information may include specific coordinate values of four corner points of the vehicle body dimension of the own vehicle at the target position, and optionally, the four corner points of the vehicle body dimension may be two corner points corresponding to two corner points and two corner points corresponding to the vehicle tail of the vehicle head respectively.

In other embodiments, according to the body size of the vehicle, the body size of the stoppered vehicle, the relative heading angle of the vehicle and the stoppered vehicle, and the relative vehicle speed, the relative positions of the vehicle and the stoppered vehicle in the preset range (i.e. four corner coordinates corresponding to the body sizes of the vehicle and the stoppered vehicle in the preset range) can be predicted in real time according to the predicted sampling frequency, and meanwhile, whether the corner point of the vehicle adjacent to the stoppered vehicle is located on a straight line formed by the corner point of the vehicle adjacent to the vehicle and the parking space corner point, and the abscissa of the corner point of the vehicle adjacent to the stoppered vehicle is located between the corner point of the vehicle adjacent to the vehicle and the abscissa of the parking space corner point, so that the collision can occur when the vehicle and the stoppered vehicle travel at the current relative heading angle and the relative vehicle speed, and the target position of the collision can be recorded. For example, if it is predicted in real time that the corner point of the head adjacent to the own vehicle is ego (x 1, y 1), the corner point of the head adjacent to the own vehicle is target0 (x 0, y 0), and the corner point of the parking space adjacent to the own vehicle is target2 (x 2, y 2), determining a straight line y=kx+b formed by the corner points of the head adjacent to the own vehicle and the parking space according to the target0 and the target2, Then ego (x 1, y 1) is substituted into the linear equation to determine whether the corner point of the head adjacent to the stoppered vehicle is located on the straight line formed by the corner point of the head adjacent to the stoppered vehicle and the corner point of the parking space, when the corner point is determined to be on the straight line and x0< x1< x2, the collision between the self vehicle and the stoppered vehicle is determined, at this time, the second predicted position information of the self vehicle can be determined according to ego, and the first predicted position information of the stoppered vehicle can be determined according to target0 and target 2.

And 130, determining the transverse overlapping rate of the stoppered vehicle and the own vehicle according to the first predicted position information and the second predicted position information.

As one way, after the first predicted position information and the second predicted position information are determined, since the own vehicle and the stoppered vehicle collide at the target position when traveling at the same speed as the current vehicle speed, acceleration control or deceleration control is required to be performed on the vehicle, in order to determine whether the own vehicle is acceleration control or deceleration control, a lateral overlap ratio between the own vehicle and the stoppered vehicle may be calculated first, and then determined according to a specific value of the lateral overlap ratio, where the lateral overlap ratio refers to the overlap ratio between the stoppered vehicle and the own vehicle. Alternatively, the lateral overlap rate may be calculated from the abscissa of the head corner point in the second predicted position information of the own vehicle and the abscissa of the head corner point of the stoppered vehicle.

And 140, determining a plugging processing strategy according to the magnitude relation between the transverse overlapping rate and the transverse overlapping rate threshold value, and controlling the vehicle speed according to the plugging processing strategy.

As one way, after the lateral overlap rate is calculated, in order to determine whether the own vehicle is performing acceleration control or deceleration control on the vehicle, the lateral overlap rate may be compared with a preset value, which is a lateral overlap rate threshold value, so as to determine a plugging processing strategy of the own vehicle for the plugged vehicle according to a magnitude relation between the lateral overlap rate and the lateral overlap rate threshold value. Alternatively, the stuffing process strategy may include an acceleration control strategy and a deceleration control strategy. Optionally, the method comprises the steps of. The corresponding stuffing strategy may be determined according to a specific value of the lateral overlap ratio.

In the embodiment of the application, when the plugged vehicle is detected in the prediction range of the self vehicle, the target position of the collision of the self vehicle and the plugged vehicle is determined according to the current position information of the self vehicle, the current position information of the plugged vehicle, the relative course angles of the self vehicle and the plugged vehicle and the relative vehicle speed, the second prediction position information of the self vehicle at the target position and the first prediction position information of the plugged vehicle at the target position are determined, and the transverse overlapping rate between the self vehicle and the plugged vehicle can be determined according to the first prediction position information and the second prediction position information, so that the plugging processing strategy of the plugging behavior of the self vehicle for the plugged vehicle can be determined according to the transverse overlapping rate, and the self vehicle can be controlled according to the determined plugging processing strategy. According to the application, under the condition that the plugged vehicle is determined to exist, the corresponding plugging processing strategy is determined according to the transverse overlapping rate between the plugged vehicle and the own vehicle, so that the plugging processing strategies of the vehicle aiming at different scenes are enriched, the situation that the plugged vehicle with the plugging intention is braked and avoided under any condition is avoided, and the safe running of the own vehicle when the plugged vehicle is plugged is ensured.

Referring to fig. 2, fig. 2 illustrates a method for processing vehicle plugging according to an embodiment of the application. The following details about the flow shown in fig. 2, and the vehicle plugging processing method specifically may include the following steps:

Step 210, if it is detected that a plugged vehicle exists in the preset range of the own vehicle, acquiring current position information of the own vehicle, current position information of the plugged vehicle, a relative course angle and a relative vehicle speed of the own vehicle and the plugged vehicle.

Step 220, determining a target position of the collision between the self vehicle and the stoppered vehicle according to the current position information of the self vehicle, the current position information of the stoppered vehicle, the relative course angle and the relative vehicle speed, and determining first predicted position information of the stoppered vehicle at the target position and second predicted position information of the self vehicle at the target position.

Step 230, determining a first target point of the plugged vehicle according to the first predicted position information, and determining a second target point and a third target point of the self-vehicle according to the second predicted position information, wherein the first target point is a point adjacent to the self-vehicle among two points corresponding to the head of the plugged vehicle, and the second target point and the third target point are two points corresponding to the head of the self-vehicle.

As one way, since the lateral overlap ratio characterizes the lateral overlap between the own vehicle and the plugged vehicle, as shown in fig. 3, the lateral overlap ratio between the plugged vehicle and the own vehicle is the overlap between the plugged vehicle and the own vehicle in the lateral direction, that is, the overlap between the head of the plugged vehicle and the head of the own vehicle. As shown in fig. 3, the lateral overlap rate may be calculated by adding coordinates between a point adjacent to the own vehicle and two corresponding heads of the own vehicle, that is, first determining the first target point S1, the second target point S2, and the third target point S3. Optionally, after determining the first predicted position information and the second predicted position information, the perception module of the own vehicle may determine the first target point, the second target point, and the third target point based on a body size of the own vehicle and a body size of the stoppered vehicle.

Step 240, determining the lateral coordinates of the first target point, the lateral coordinates of the second target point and the lateral coordinates of the third target point, and determining the lateral overlap rate according to the lateral coordinates of the first target point, the lateral coordinates of the second target point and the lateral coordinates of the third target point.

As one way, after determining the first target point, the second target point, and the third target point, in order to determine the lateral overlap ratio, it is necessary to determine the lateral coordinates of the first target point, the second target point, and the third target point at the target position, respectively, and then the lateral overlap ratio may be calculated according to the lateral coordinates. Alternatively, the lateral overlap ratio may be obtained by dividing the difference between the abscissa of the first target point and the abscissa of the second target point by the difference between the abscissa of the second target point and the abscissa of the third target point, for example, if the lateral coordinate of the first target point is a, the lateral coordinate of the second target point is b, and the lateral coordinate of the third target point is c, the lateral overlap ratio n= (b-a)/(b-c).

And 250, determining a plugging processing strategy according to the magnitude relation between the transverse overlapping rate and the transverse overlapping rate threshold value, and controlling the vehicle speed according to the plugging processing strategy.

The specific step seconds of steps 210-220 and 250 can refer to steps 110-120 and 140, and will not be described herein.

In this embodiment, the accuracy of the lateral overlap rate is ensured by determining the lateral overlap rate according to the second target point and the third target point corresponding to the second predicted position of the own vehicle at the target position and the first target point corresponding to the first predicted position information of the plugging vehicle at the target position, so that the accuracy of the determination of the plugging processing strategy is improved, and the safe running of the own vehicle is ensured.

Referring to fig. 4, fig. 4 illustrates a method for processing vehicle plugging according to an embodiment of the application. The following details about the flow shown in fig. 4, and the vehicle plugging processing method specifically may include the following steps:

Step 310, if it is detected that a plugged vehicle exists in the preset range of the own vehicle, acquiring current position information of the own vehicle, current position information of the plugged vehicle, a relative course angle and a relative vehicle speed of the own vehicle and the plugged vehicle.

Step 320, determining a target position of the collision between the self vehicle and the stoppered vehicle according to the current position information of the self vehicle, the current position information of the stoppered vehicle, the relative course angle and the relative vehicle speed, and determining first predicted position information of the stoppered vehicle at the target position and second predicted position information of the self vehicle at the target position.

And step 330, determining the transverse overlapping rate of the stoppered vehicle and the own vehicle according to the first predicted position information and the second predicted position information.

And step 340, if the lateral overlap rate is smaller than the lateral overlap rate threshold, determining that the plugging processing strategy is a first plugging processing strategy, and performing acceleration control according to the first plugging processing strategy.

As one way, a lateral overlap rate threshold value for determining whether to perform the acceleration control or the deceleration control of the own vehicle is set as a preset value. Alternatively, when the lateral overlap ratio is smaller than the lateral overlap ratio threshold value, it may be determined that collision with the plugged vehicle can be avoided if the vehicle is accelerated to travel, and that plugging of the other vehicle can be avoided. The lateral overlap rate threshold may be set according to actual needs, and is not specifically limited herein.

In some embodiments, as shown in fig. 5, the step 340 includes:

And 341, if the lateral overlap ratio is smaller than the lateral overlap ratio threshold, determining a lateral distance from the current position of the stoppered vehicle to the target position, and determining a target duration according to the lateral speed of the stoppered vehicle and the lateral distance, wherein the target duration is a duration from the current position of the stoppered vehicle to the target position.

As one way, when it is determined that the lateral overlap ratio is smaller than the lateral overlap ratio threshold value, it is necessary to determine the acceleration at which the vehicle is controlled to accelerate, and in order to determine the acceleration, it is necessary to first determine the time period required for the stoppered vehicle to travel from the current position to the target position, that is, the target time period. Alternatively, the lateral distance of the vehicle from the current position to the target position can be determined and the target time length can be calculated according to the lateral speed and the lateral distance of the vehicle. For example, when the abscissase:Sub>A of the point corresponding to the head of the plugging vehicle at the current position is ase:Sub>A, and the abscissase:Sub>A of the point corresponding to the head of the plugging vehicle at the target position is B, the lateral distance l1=b-ase:Sub>A, the lateral speed of the plugging vehicle is V1, and the target time period t=b/V1.

And 342, determining the longitudinal distance of the plugging vehicle moving in the target duration according to the target duration and the longitudinal speed of the plugging vehicle.

As one way, it is also necessary to determine the longitudinal distance traveled by the stoppered vehicle from the current position to the target position in order to calculate the acceleration. Alternatively, the longitudinal speed of the stoppered vehicle may be calculated by the target duration set, and if the longitudinal speed is V2, the longitudinal distance l2=tv2.

Step 343, obtaining a safety distance, determining a target acceleration according to the safety distance, the longitudinal speed of the stoppered vehicle, the longitudinal speed of the own vehicle and the target time length, and performing acceleration control on the own vehicle according to the target acceleration, wherein the safety distance is the minimum distance between the own vehicle and the stoppered vehicle in the longitudinal direction.

As one way, in order to ensure safe running of the own vehicle, it is necessary to consider the longitudinal safety distance between the vehicle and the stoppered vehicle when determining the acceleration of the vehicle, and add the safety distance to the calculated acceleration to ensure safe running of the own vehicle. Alternatively, the acceleration may be calculated according to the formula (vy_ ego ×0.8×a1×t ζ2) -L2-vy_target=l_safe, where vy_ ego is the longitudinal speed of the vehicle, a1 is the acceleration, vy_target is the longitudinal speed of the vehicle, l_safe is the safe distance, and the acceleration is a1= ((l_before+vy_target×t+l_safe) -vy_ ego ×t)/(0.8×t ζ2).

With continued reference to fig. 4, in step 350, if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, the strategy is determined to be a second plugging processing strategy, and deceleration control is performed according to the second plugging processing strategy.

As one mode, when the lateral overlap ratio is equal to or greater than the lateral overlap ratio threshold value, it is determined that collision with the stoppered vehicle can be avoided if the own vehicle is decelerating to travel, and further, the deceleration in the second stopover process strategy is determined, so that deceleration control of the own vehicle can be performed based on the acceleration.

In some embodiments, as shown in fig. 6, the step 350 includes:

Step 351, if the lateral overlap ratio is equal to or greater than the lateral overlap ratio threshold, determining a lateral distance from the current position of the stoppered vehicle to the target position, and determining a target duration according to the lateral speed of the stoppered vehicle and the lateral distance, wherein the target duration is a duration from the current position of the stoppered vehicle to the target position.

And step 352, determining the longitudinal distance of the corked vehicle moving in the target duration according to the target duration and the longitudinal speed of the corked vehicle.

The specific step descriptions of step 351 and step 352 can refer to step 341 and step 342, and are not described herein.

Step 353, obtaining a safety distance, determining a target deceleration according to the safety distance, the longitudinal speed of the stoppered vehicle, the longitudinal speed of the own vehicle and the target duration, and performing deceleration control on the own vehicle according to the target deceleration, wherein the safety distance is the minimum distance between the own vehicle and the stoppered vehicle in the longitudinal direction.

As one mode, in order to ensure safe running of the own vehicle, it is necessary to consider a longitudinal safe distance between the vehicle and the stoppered vehicle when determining the deceleration of the vehicle, and add the safe distance to the calculated deceleration as well, thereby ensuring safe running of the own vehicle. Alternatively, the acceleration may be calculated according to the formula l_before- (vy_ ego ×t+0.8×a2×t ζ_target=l_safe, where vy_ ego is the longitudinal speed of the vehicle, a2 is the deceleration, vy_target is the longitudinal speed of the vehicle, l_safe is the safe distance, and the acceleration is a2= ((l_before+vy_target×t-l_safe) -vy_ ego ×t)/(0.8×t≡2).

In this embodiment, a specific strategy of the self-vehicle for the plugging action of the plugged vehicle is determined according to the relation between the transverse overlap rate and the transverse overlap rate, and after the specific strategy is determined, the acceleration or deceleration of the specific strategy can be determined according to the transverse speed and the longitudinal speed of the plugged vehicle and the safety distance for ensuring the safe running of the self-vehicle, so that the safe running of the vehicle is ensured, and the accuracy of the self-vehicle for the plugging action is improved.

Referring to fig. 7, fig. 7 illustrates a method for processing vehicle plugging according to an embodiment of the application. The following describes the flow shown in fig. 7 in detail, and the vehicle plugging processing method specifically includes the following steps:

Step 410, if it is detected that a plugged vehicle exists in the preset range of the own vehicle, acquiring current position information of the own vehicle, current position information of the plugged vehicle, a relative course angle and a relative vehicle speed of the own vehicle and the plugged vehicle.

Step 420, determining a first predicted running track of the own vehicle according to the current position information of the own vehicle and the relative course angle, and determining a second predicted running track of the plugged vehicle according to the current position information of the plugged vehicle and the relative course angle.

And step 430, if it is determined that the intersection exists between the first predicted travel track and the second predicted travel track, determining the intersection between the first predicted travel track and the second predicted travel track as the target position.

As one way, after the first predicted travel track and the second predicted travel track are determined, whether the collision occurs or not when the own vehicle and the stoppered vehicle travel according to the new fleet speed and the relative heading angle can be determined according to whether the first predicted travel track and the second predicted travel track have an intersection point or not. Optionally, if the first predicted running track and the second predicted running track have an intersection point, determining that the self-vehicle and the plug vehicle collide when running according to the new team speed and the relative course angle, and determining the position corresponding to the intersection point as the target position of the collision of the self-vehicle and the plug vehicle. As shown in fig. 8, X is a first predicted travel track, Y is a second predicted travel track, and an intersection Q thereof corresponds to a target position at which the own vehicle collides with the plugged vehicle.

Step 440, determining the first predicted position information and the second predicted position information based on the target position.

As one way, after the target position is determined, the second predicted position information of the own vehicle and the first predicted position information of the plugged vehicle may be determined based on the body size of the own vehicle and the body size class of the plugged vehicle, respectively. Alternatively, the first predicted position information may include coordinate information of two corner points of the head of the stoppered vehicle determined according to the size of the stoppered vehicle, and the second predicted position information may include coordinate information of two corner points of the head of the own vehicle determined according to the size of the own vehicle.

And step 450, determining the transverse overlapping rate of the stoppered vehicle and the own vehicle according to the first predicted position information and the second predicted position information.

Step 460, determining a plugging processing strategy according to the magnitude relation between the transverse overlapping rate and the transverse overlapping rate threshold, and controlling the vehicle speed according to the plugging processing strategy.

The specific step descriptions of steps 410-420 and steps 450-460 can refer to steps 110 and 130-140, and are not described herein.

In this embodiment, whether the vehicle collides with the plugging vehicle is determined by determining whether the first predicted running track and the second predicted running track have an intersection, and the first predicted position information and the second predicted position information are determined according to the target position when the intersection exists, so that accuracy of processing of the plugging behavior of the vehicle by the vehicle is ensured, the first predicted position information and the second predicted position information are determined only when the vehicle collides with the plugging vehicle, accuracy of plugging processing of the vehicle is improved, and waste of resources is avoided.

Referring to fig. 9, fig. 9 shows a method for processing vehicle plugging according to an embodiment of the application. The following describes the flow shown in fig. 9 in detail, and the vehicle plugging processing method specifically includes the following steps:

Step 510, obtaining the current heading angle of the own vehicle and the current heading angle of the reference vehicle in the preset detection range of the own vehicle, and determining the heading angle difference between the current heading angle of the own vehicle and the current heading angle of the reference vehicle.

As one way, in order to determine whether or not a vehicle is jammed during running of the own vehicle, that is, whether or not a jammed vehicle is present, the determination may be made by calculating a heading angle difference between the own vehicle and the vehicle within a predicted detection range. Optionally, in order to accurately determine the plugged vehicle, other vehicles in the prediction detection range of the vehicle are required to be used as reference vehicles, so that the current course angle of the reference vehicles can be obtained through the sensing module of the vehicle, the current course angle of the vehicle can be obtained through the sensing module, and then the course angle difference between the current course angle of the vehicle and the current course angle of the reference vehicles is determined.

And step 520, determining the transverse distance between the self-vehicle and the reference vehicle in a preset duration.

As one approach, determining whether a reference vehicle is intended to be plugged may be determined by determining whether the lateral distance between the host vehicle and the reference vehicle is continuously decreasing. Alternatively, a period may be preset, and the lateral data between the vehicle and the reference vehicle may be obtained periodically and continuously, that is, the lateral distance between the vehicle and the reference vehicle may be obtained in the predicted period.

And step 530, if the heading angle difference is smaller than a heading angle threshold and the lateral distance between the vehicle and the reference vehicle is continuously reduced within the preset duration, determining that the reference vehicle has a jam intention, and determining the reference vehicle as the jam vehicle.

As one way, if it is determined that the heading angle between the host vehicle and the reference vehicle is smaller than the heading angle threshold value, it may be determined that the reference vehicle may have a jam intention, in order to accurately determine that the reference vehicle is a jammed vehicle, it is necessary to determine whether the lateral distance between the host vehicle and the reference vehicle is continuously decreasing, and if it is determined that the lateral distance between the host vehicle and the reference vehicle is continuously decreasing within a preset period of time, it may be determined that the reference vehicle has a jam intention, and it is determined that the reference vehicle is a jammed vehicle.

In the embodiment, whether the reference vehicle has the plugging intention or not is determined according to the course angle difference between the own vehicle and the reference vehicle in the prediction detection range of the own vehicle and the transverse distance in the preset time period, and the reference vehicle is determined to be the plugging vehicle when the plugging intention is determined to exist, so that the accuracy of determining the plugging vehicle is improved.

Fig. 10 is a block diagram of a vehicle-jam processing apparatus according to an embodiment of the present application, and as shown in fig. 10, the vehicle-jam processing apparatus 600 includes: an acquisition module 610, a predicted location information determination module 620, a lateral overlap rate determination module 630, and a stuffing process policy determination module 640.

An obtaining module 610, configured to obtain current location information of a vehicle, current location information of the plugged vehicle, a relative heading angle of the vehicle and the plugged vehicle, and a relative vehicle speed if a plugged vehicle is detected to exist in a preset range of the vehicle; a predicted position information determining module 620, configured to determine first predicted position information of the plugged vehicle at the target position and second predicted position information of the self vehicle at the target position if it is determined that the self vehicle collides with the plugged vehicle at the target position according to the current position information of the self vehicle, the current position information of the plugged vehicle, the relative heading angle and the relative vehicle speed; a lateral overlap rate determining module 630, configured to determine a lateral overlap rate of the plugged vehicle and the own vehicle according to the first predicted position information and the second predicted position information; and the plugging processing strategy determining module 640 is configured to determine a plugging processing strategy according to the lateral overlap rate, and perform vehicle speed control according to the plugging processing strategy.

In some embodiments, the lateral overlap rate determination module 630 includes: a target point determining sub-module, configured to determine a first target point of the stoppered vehicle according to the first predicted position information, and determine a second target point and a third target point of the own vehicle according to the second predicted position information, where the first target point is a point adjacent to the own vehicle among two points corresponding to a head of the stoppered vehicle, and the second target point and the third target point are two points corresponding to the head of the own vehicle; and the transverse overlap rate is used for respectively determining the transverse coordinates of the first target point, the transverse coordinates of the second target point and the transverse coordinates of the third target point, and determining the transverse overlap rate according to the transverse coordinates of the first target point, the transverse coordinates of the second target point and the transverse coordinates of the third target point.

In some embodiments, the plugging processing policy determination module 640 includes: the first plugging processing strategy determining submodule is used for determining that the plugging processing strategy is a first plugging processing strategy if the transverse overlapping rate is smaller than a transverse overlapping rate threshold value and performing acceleration control according to the first plugging processing strategy; and the second plugging processing strategy determining submodule is used for determining the strategy as a second plugging processing strategy if the transverse overlapping rate is equal to or greater than the transverse overlapping rate threshold value, and performing deceleration control according to the second plugging processing strategy.

In some embodiments, the first plugging processing policy determination submodule includes: a target duration first determining unit, configured to determine a lateral distance of the stoppered vehicle from a current position of the stoppered vehicle to the target position if the lateral overlap rate is smaller than the lateral overlap rate threshold, and determine a target duration according to a lateral speed of the stoppered vehicle and the lateral distance, where the target duration is a duration of the stoppered vehicle from the current position of the stoppered vehicle to the target position; a first determining unit for determining a longitudinal distance of the stoppered vehicle moving within the target duration according to the target duration and a longitudinal speed of the stoppered vehicle; the target acceleration determining unit is used for obtaining a safety distance, determining target acceleration according to the safety distance, the longitudinal speed of the plug-in vehicle, the longitudinal speed of the self vehicle and the target time length, and performing acceleration control on the self vehicle according to the target acceleration, wherein the safety distance is the minimum distance between the self vehicle and the plug-in vehicle in the longitudinal direction.

In some embodiments, the second plugging processing policy determination submodule includes: a target duration second determining unit, configured to determine a lateral distance of the stoppered vehicle from a current position of the stoppered vehicle to the target position if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, and determine a target duration according to a lateral speed of the stoppered vehicle and the lateral distance, where the target duration is a duration of the stoppered vehicle from the current position of the stoppered vehicle to the target position; a longitudinal distance second determining unit, configured to determine a longitudinal distance that the stoppered vehicle moves within the target duration according to the target duration and a longitudinal speed of the stoppered vehicle; the target deceleration determining unit is used for obtaining a safe distance, determining target deceleration according to the safe distance, the longitudinal speed of the plug-in vehicle, the longitudinal speed of the self vehicle and the target duration, and performing deceleration control on the self vehicle according to the target deceleration, wherein the safe distance is the minimum distance between the self vehicle and the plug-in vehicle in the longitudinal direction.

In some embodiments, the predicted location information determination module 620 includes: a predicted travel track determination sub-module, configured to determine a first predicted travel track of the own vehicle according to the current position information of the own vehicle and the relative heading angle, and determine a second predicted travel track of the plugged vehicle according to the current position information of the plugged vehicle and the relative heading angle; a target position determining sub-module, configured to determine, if it is determined that an intersection exists between the first predicted travel track and the second predicted travel track, an intersection between the first predicted travel track and the second predicted travel track as the target position; a predicted location information determination sub-module for determining the first predicted location information and the second predicted location information based on the target location.

In some embodiments, the vehicle plugged processing device 600 further includes: the course angle difference determining module is used for obtaining the current course angle of the own vehicle and the current course angle of the reference vehicle in the preset detection range of the own vehicle and determining the course angle difference between the current course angle of the own vehicle and the current course angle of the reference vehicle; the transverse distance determining module is used for determining the transverse distance between the self-vehicle and the reference vehicle in a preset duration; and the plugging vehicle determining module is used for determining that the reference vehicle has a plugging intention and determining the reference vehicle as the plugging vehicle if the course angle difference is smaller than a course angle threshold value and the transverse distance between the self vehicle and the reference vehicle is continuously reduced within the preset duration.

According to an aspect of embodiments of the present application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method of any of the embodiments described above.

According to an aspect of the embodiment of the present application, there is further provided an electronic device, as shown in fig. 11, the vehicle 700 includes a processor 710 and one or more memories 720, and the one or more memories 720 are used to store program instructions executed by the processor 710, where the processor 710 executes the program instructions to implement the above-mentioned vehicle jam processing method.

Further, the processor 710 may include one or more processing cores. Processor 710 executes or performs instructions, programs, code sets, or instruction sets stored in memory 720 and invokes data stored in memory 720. Alternatively, the processor 710 may be implemented in hardware in at least one of digital signal Processing (DIGITAL SIGNAL Processing, DSP), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 710 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for being responsible for rendering and drawing of display content; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor and may be implemented solely by a single communication chip.

According to an aspect of the present application, there is also provided a computer-readable storage medium that may be contained in the electronic device described in the above-described embodiment; or may exist alone without being incorporated into the electronic device. The computer readable storage medium carries computer readable instructions which, when executed by a processor, implement the method of any of the above embodiments.

It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A method of handling vehicle plugging, the method comprising:

If the existence of the plugged vehicle is detected within the preset range of the own vehicle, acquiring the current position information of the own vehicle, the current position information of the plugged vehicle, the relative course angle and the relative vehicle speed of the own vehicle and the plugged vehicle;

determining a target position of the self-vehicle, at which the self-vehicle collides with the plug-in vehicle, according to the current position information of the self-vehicle, the current position information of the plug-in vehicle, the relative course angle and the relative vehicle speed, and determining first predicted position information of the plug-in vehicle at the target position and second predicted position information of the self-vehicle at the target position; determining a lateral overlap ratio of the stoppered vehicle and the own vehicle according to the first predicted position information and the second predicted position information;

Determining a plugging processing strategy according to the magnitude relation between the transverse overlapping rate and the transverse overlapping rate threshold value, and controlling the vehicle speed according to the plugging processing strategy;

the determining, according to the current position information of the own vehicle, the current position information of the stoppered vehicle, the relative heading angle and the relative vehicle speed, the target position of the collision between the own vehicle and the stoppered vehicle includes:

determining an objective function according to the current position information of the own vehicle and the current position information of the stoppered vehicle, wherein the objective function is a straight line function determined by a head corner point and a tail corner point of the stoppered vehicle adjacent to the own vehicle;

If the target angular point is determined to be a point on the objective function and the abscissa of the angular point of the head adjacent to the stoppered vehicle by the own vehicle is located between the abscissa of the angular point of the head adjacent to the own vehicle and the abscissa of the angular point of the tail of the vehicle, determining that the stoppered vehicle is about to collide with the own vehicle, and determining the target position of the collision between the own vehicle and the stoppered vehicle according to the current position information of the own vehicle, the current position information of the stoppered vehicle, the relative heading angle and the relative vehicle speed, wherein the target angular point is the angular point of the head adjacent to the stoppered vehicle by the own vehicle.

2. The method of claim 1, wherein the determining a lateral overlap ratio of the plugged vehicle and the host vehicle based on the first predicted position information and the second predicted position information comprises:

Determining a first target point of the stoppered vehicle according to the first predicted position information, and determining a second target point and a third target point of the own vehicle according to the second predicted position information, wherein the first target point is a point adjacent to the own vehicle in two points corresponding to the head of the stoppered vehicle, and the second target point and the third target point are two points corresponding to the head of the own vehicle;

And respectively determining the transverse coordinates of the first target point, the transverse coordinates of the second target point and the transverse coordinates of the third target point, and determining the transverse overlapping rate according to the transverse coordinates of the first target point, the transverse coordinates of the second target point and the transverse coordinates of the third target point.

3. The method according to claim 1, wherein the determining a plugging processing strategy according to the magnitude relation of the lateral overlap ratio and the lateral overlap ratio, and performing vehicle speed control according to the plugging processing strategy, comprises:

if the transverse overlapping rate is smaller than the transverse overlapping rate threshold, determining that the plugging processing strategy is a first plugging processing strategy, and performing acceleration control according to the first plugging processing strategy;

And if the transverse overlapping rate is equal to or greater than the transverse overlapping rate threshold, determining that the strategy is a second plugging processing strategy, and performing deceleration control according to the second plugging processing strategy.

4. The method of claim 3, wherein determining the plugging treatment policy as a first plugging treatment policy if the lateral overlap rate is less than the lateral overlap rate threshold, and performing acceleration control according to the first plugging treatment policy, comprises:

If the transverse overlap rate is smaller than the transverse overlap rate threshold, determining a transverse distance from the current position of the stoppered vehicle to the target position, and determining a target duration according to the transverse speed of the stoppered vehicle and the transverse distance, wherein the target duration is a duration from the current position of the stoppered vehicle to the target position;

Determining the longitudinal distance of the corked vehicle moving in the target duration according to the target duration and the longitudinal speed of the corked vehicle;

and acquiring a safety distance, determining target acceleration according to the safety distance, the longitudinal speed of the plug-in vehicle, the longitudinal speed of the self vehicle and the target time length, and performing acceleration control on the self vehicle according to the target acceleration, wherein the safety distance is the minimum distance between the self vehicle and the plug-in vehicle in the longitudinal direction.

5. A method according to claim 3, wherein if the lateral overlap ratio is equal to or greater than the lateral overlap ratio threshold, determining that the policy is a second plugging processing policy, and performing deceleration control according to the second plugging processing policy, comprises:

If the transverse overlap rate is equal to or greater than the transverse overlap rate threshold, determining a transverse distance from the current position of the stoppered vehicle to the target position, and determining a target duration according to the transverse speed of the stoppered vehicle and the transverse distance, wherein the target duration is a duration from the current position of the stoppered vehicle to the target position;

And acquiring a safety distance, determining a target deceleration according to the safety distance, the longitudinal speed of the plug-in vehicle, the longitudinal speed of the self vehicle and the target time length, and performing deceleration control on the self vehicle according to the target deceleration, wherein the safety distance is the minimum distance between the self vehicle and the plug-in vehicle in the longitudinal direction.

6. The method according to any one of claims 1 to 5, wherein the determining a target position at which the own vehicle collides with the stoppered vehicle, and determining first predicted position information of the stoppered vehicle at the target position and second predicted position information of the own vehicle at the target position based on the current position information of the own vehicle, the current position information of the stoppered vehicle, the relative heading angle, and the relative vehicle speed, includes:

Determining a first predicted running track of the self-vehicle according to the current position information of the self-vehicle and the relative course angle, and determining a second predicted running track of the plug-in vehicle according to the current position information of the plug-in vehicle and the relative course angle;

if the first predicted running track and the second predicted running track are determined to have the intersection point, determining the intersection point of the first predicted running track and the second predicted running track as the target position;

the first predicted location information and the second predicted location information are determined based on the target location.

7. The method according to any one of claims 1-5, wherein the method further comprises, before acquiring the current position information of the own vehicle, the current position information of the plugged vehicle, the relative heading angle and the relative vehicle speed of the own vehicle and the plugged vehicle if the presence of the plugged vehicle is detected within a preset range of the own vehicle:

Acquiring a current course angle of the own vehicle and a current course angle of a reference vehicle in a preset detection range of the own vehicle, and determining a course angle difference between the current course angle of the own vehicle and the current course angle of the reference vehicle;

Determining a transverse distance between the own vehicle and the reference vehicle within a preset duration;

and if the heading angle difference is smaller than a heading angle threshold value and the transverse distance between the vehicle and the reference vehicle is continuously reduced within the preset duration, determining that the reference vehicle has a plugging intention, and determining the reference vehicle as the plugged vehicle.

8. A vehicle plug handling device, the device comprising:

The acquisition module is used for acquiring current position information of the own vehicle, current position information of the plugged vehicle, relative course angles of the own vehicle and the plugged vehicle and relative vehicle speed if the plugged vehicle is detected to exist in a preset range of the own vehicle;

The predicted position information determining module is configured to determine a target position of the vehicle that collides with the stoppered vehicle according to the current position information of the vehicle, the current position information of the stoppered vehicle, the relative heading angle, and the relative vehicle speed, and determine first predicted position information of the stoppered vehicle at the target position and second predicted position information of the vehicle that collides with the stoppered vehicle at the target position, where the determining the target position of the vehicle that collides with the stoppered vehicle according to the current position information of the vehicle, the current position information of the stoppered vehicle, the relative heading angle, and the relative vehicle speed includes:

If the target angular point is determined to be a point on the objective function and the abscissa of the angular point of the head adjacent to the stoppered vehicle by the own vehicle is located between the abscissa of the angular point of the head adjacent to the own vehicle and the abscissa of the angular point of the tail of the vehicle, determining that the stoppered vehicle is about to collide with the own vehicle, and determining the target position of the collision between the own vehicle and the stoppered vehicle according to the current position information of the own vehicle, the current position information of the stoppered vehicle, the relative heading angle and the relative vehicle speed, wherein the target angular point is the angular point of the head adjacent to the stoppered vehicle by the own vehicle;

the transverse overlapping rate determining module is used for determining the transverse overlapping rate of the stoppered vehicle and the own vehicle according to the first predicted position information and the second predicted position information;

And the plugging processing strategy determining module is used for determining a plugging processing strategy according to the magnitude relation between the transverse overlapping rate and the transverse overlapping rate threshold value and controlling the vehicle speed according to the plugging processing strategy.

9. An electronic device, the electronic device comprising:

A processor;

A memory having stored thereon computer readable instructions which, when executed by the processor, implement the method of any of claims 1 to 7.

10. A computer readable storage medium having stored therein program code which is callable by a processor to perform the method of any one of claims 1 to 7.