CN116740984B - Method, device, electronic device and storage medium for handling vehicle jam - Google Patents

Abstract

The present application provides a method, device, electronic device and storage medium for handling a vehicle cutting in. The method includes: if a vehicle cutting in is detected within a preset range of the own vehicle, then the current position information of the own vehicle, the current position information of the vehicle cutting in, the relative heading angle and relative vehicle speed of the own vehicle and the vehicle cutting in are obtained; based on the current position information of the own vehicle, the current position information of the vehicle cutting in, the relative heading angle and the relative vehicle speed, the target position where the own vehicle and the vehicle cutting in are collided is determined, and the first predicted position information of the vehicle cutting in and the second predicted position information of the own vehicle are determined; based on the first predicted position information and the second predicted position information, the lateral overlap rate between the vehicle cutting in and the own vehicle is determined; and the cutting in handling strategy is determined based on the lateral overlap rate and the lateral overlap rate threshold. The present application determines the corresponding cutting in handling strategy based on the lateral overlap rate between the vehicle cutting in and the own vehicle, thereby ensuring the safe driving of the own vehicle when a vehicle cutting in is attempted.

Description

Method, device, electronic device and storage medium for handling vehicle jam

Technical Field

The present application relates to the field of intelligent driving technology, and more specifically, to a method, device, electronic device and storage medium for handling vehicle jamming.

Background technique

As my country's infrastructure continues to improve, the road network is becoming more and more convenient and dense. At the same time, the number of motor vehicles is also increasing, and some motor vehicle drivers do not strictly abide by traffic rules when driving motor vehicles, resulting in increasingly prominent traffic safety issues. In recent years, in order to improve driving safety and reduce the driving burden, driving assistance system functions have gradually been installed on vehicles for use, but the current assisted driving system cannot cope well with complex road conditions and driving behaviors, especially for scenarios where vehicles are cutting in. Therefore, how to ensure the safe driving of the vehicle while handling the cutting in when other vehicles are cutting in during the driving process of the vehicle has become an urgent problem to be solved.

Summary of the invention

In view of this, the embodiments of the present application propose a method, device, electronic device and storage medium for handling vehicle jamming to improve the above-mentioned problem.

According to the first aspect of an embodiment of the present application, a method for handling a vehicle cutting in is provided, the method comprising: if a vehicle cutting in is detected within a preset range of a self-vehicle, obtaining current position information of the self-vehicle, current position information of the vehicle cutting in, relative heading angle and relative vehicle speed of the self-vehicle and the vehicle cutting in; determining a target position where the self-vehicle and the vehicle cutting in collide based on the current position information of the self-vehicle, the current position information of the vehicle cutting in, the relative heading angle and the relative vehicle speed, and determining first predicted position information of the vehicle cutting in at the target position and second predicted position information of the self-vehicle at the target position; determining a lateral overlap rate between the vehicle cutting in and the self-vehicle based on the first predicted position information and the second predicted position information; determining a cutting in processing strategy based on the relationship between the lateral overlap rate and a lateral overlap rate threshold, and performing vehicle speed control based on the cutting in processing strategy.

According to the first aspect of the embodiment of the present application, the lateral overlap rate between the jamming vehicle and the self-vehicle is determined according to the first predicted position information and the second predicted position information, including: determining the first target point of the jamming vehicle according to the first predicted position information, and determining the second target point and the third target point of the self-vehicle according to the second predicted position information, wherein the first target point is the point adjacent to the self-vehicle among the two points corresponding to the front of the jamming vehicle, and the second target point and the third target point are the two points corresponding to the front of the self-vehicle; respectively determining the lateral coordinates of the first target point, the second target point and the third target point, and determining the lateral overlap rate according to the lateral coordinates of the first target point, the second target point and the third target point. This embodiment determines the lateral overlap rate according to the second target point and the third target point corresponding to the second predicted position of the self-vehicle at the target position and the first target point corresponding to the first predicted position information of the jamming vehicle at the target position, thereby ensuring the accuracy of the lateral overlap rate, thereby improving the accuracy of the jamming processing strategy determination and ensuring the safe driving of the self-vehicle.

According to the first aspect of the embodiment of the present application, the jamming strategy is determined according to the size relationship between the lateral overlap rate and the lateral overlap rate threshold, and the vehicle speed is controlled according to the jamming strategy, including: if the lateral overlap rate is less than the lateral overlap rate threshold, the jamming strategy is determined to be the first jamming strategy, and acceleration control is performed according to the first jamming strategy; if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, the strategy is determined to be the second jamming strategy, and deceleration control is performed according to the second jamming strategy. This embodiment enriches the vehicle's jamming strategies for different scenarios by determining the specific strategy of the vehicle's jamming behavior for the jamming vehicle according to the size relationship between the lateral overlap rate and the lateral overlap rate.

According to the first aspect of the embodiment of the present application, if the lateral overlap rate is less than the lateral overlap rate threshold, the jam-in handling strategy is determined to be the first jam-in handling strategy, and acceleration control is performed according to the first jam-in handling strategy, including: if the lateral overlap rate is less than the lateral overlap rate threshold, the lateral distance of the jam-in vehicle from the current position of the jam-in vehicle to the target position is determined, and a target duration is determined according to the lateral speed of the jam-in vehicle and the lateral distance, wherein the target duration is the duration for the jam-in vehicle to travel from the current position of the jam-in vehicle to the target position; according to the target duration and the longitudinal speed of the jam-in vehicle, the longitudinal distance moved by the jam-in vehicle within the target duration is determined; a safety distance is obtained, and a target acceleration is determined according to the safety distance, the longitudinal distance, the longitudinal speed of the jam-in vehicle, the longitudinal speed of the own vehicle and the target duration, and acceleration control is performed on the own vehicle with the target acceleration, wherein the safety distance is the minimum distance for the own vehicle and the jam-in vehicle to travel safely in the longitudinal direction. After determining the specific strategy, this embodiment determines the acceleration of the specific strategy based on the lateral speed and longitudinal speed of the vehicle cutting in and the safety distance to ensure the safe driving of the own vehicle, thereby ensuring the safe driving of the vehicle while also improving the accuracy of the own vehicle in cutting in.

According to the first aspect of the embodiment of the present application, if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, the strategy is determined to be a second jamming handling strategy, and deceleration control is performed according to the second jamming handling strategy, including: if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, the lateral distance traveled by the jamming vehicle from the current position of the jamming vehicle to the target position is determined, and a target duration is determined according to the lateral speed of the jamming vehicle and the lateral distance, wherein the target duration is the duration for the jamming vehicle to travel from the current position of the jamming vehicle to the target position; according to the target duration and the longitudinal speed of the jamming vehicle, the longitudinal distance moved by the jamming vehicle within the target duration is determined; a safety distance is obtained, and a target deceleration is determined according to the safety distance, the longitudinal distance, the longitudinal speed of the jamming vehicle, the longitudinal speed of the own vehicle and the target duration, and deceleration control is performed on the own vehicle at the target deceleration, wherein the safety distance is the minimum distance for the own vehicle and the jamming vehicle to travel safely in the longitudinal direction. After determining the specific strategy, this embodiment determines the deceleration of the specific strategy based on the lateral speed and longitudinal speed of the vehicle that cuts in and the safety distance to ensure the safe driving of the own vehicle, thereby ensuring the safe driving of the vehicle while also improving the accuracy of the own vehicle in dealing with the cutting behavior.

According to the first aspect of an embodiment of the present application, the target position where the self-vehicle collides with the jam-in vehicle is determined based on the current position information of the self-vehicle, the current position information of the jam-in vehicle, the relative heading angle and the relative vehicle speed, and the first predicted position information of the jam-in vehicle at the target position and the second predicted position information of the self-vehicle at the target position are determined, including: determining the first predicted driving trajectory of the self-vehicle based on the current position information of the self-vehicle and the relative heading angle, and determining the second predicted driving trajectory of the jam-in vehicle based on the current position information of the jam-in vehicle and the relative heading angle; if it is determined that the first predicted driving trajectory and the second predicted driving trajectory have an intersection, determining the intersection of the first predicted driving trajectory and the second predicted driving trajectory as the target position; determining the first predicted position information and the second predicted position information based on the target position. This embodiment determines whether the own vehicle and the jam-in vehicle will collide by determining whether there is an intersection between the first predicted driving trajectory and the second predicted driving trajectory, and determines the first predicted position information and the second predicted position information according to the target position when there is an intersection, thereby ensuring the accuracy of the own vehicle's processing of the jam-in vehicle, and the first predicted position information and the second predicted position information are determined only when the own vehicle and the jam-in vehicle are likely to collide, thereby improving the accuracy of the own vehicle's jam-in processing and avoiding waste of resources.

According to the first aspect of the embodiment of the present application, if a jamming vehicle is detected within the preset range of the self-vehicle, before obtaining the current position information of the self-vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the self-vehicle and the jamming vehicle, the method further includes: obtaining the current heading angle of the self-vehicle and the current heading angle of the reference vehicle within the preset detection range of the self-vehicle, and determining the heading angle difference between the current heading angle of the self-vehicle and the current heading angle of the reference vehicle; determining the lateral distance between the self-vehicle and the reference vehicle within a preset time length; if the heading angle difference is less than the heading angle threshold and the lateral distance between the self-vehicle and the reference vehicle continuously decreases within the preset time length, it is determined that the reference vehicle has the intention to jam, and the reference vehicle is determined as the jamming vehicle. This embodiment determines whether the reference vehicle has the intention to jam according to the heading angle difference between the self-vehicle and the reference vehicle within the predicted detection range of the self-vehicle and the lateral distance within the preset time length, and determines the reference vehicle as the jamming vehicle when it is determined that there is the intention to jam, thereby improving the accuracy of determining the jamming vehicle.

According to a second aspect of an embodiment of the present application, a device for processing a vehicle cutting in is provided, the device comprising: an acquisition module, for acquiring current position information of the own vehicle, current position information of the cutting in vehicle, relative heading angle and relative vehicle speed of the own vehicle and the cutting in vehicle if a cutting in vehicle is detected within a preset range of the own vehicle; a predicted position information determination module, for determining a target position where the own vehicle collides with the cutting in vehicle based on the current position information of the own vehicle, the current position information of the cutting in vehicle, the relative heading angle and the relative vehicle speed, and determining first predicted position information of the cutting in vehicle at the target position and second predicted position information of the own vehicle at the target position; a lateral overlap rate determination module, for determining a lateral overlap rate between the cutting in vehicle and the own vehicle based on the first predicted position information and the second predicted position information; a cutting in processing strategy determination module, for determining a cutting in processing strategy based on the relationship between the lateral overlap rate and a lateral overlap rate threshold, and performing vehicle speed control based on the cutting in processing strategy.

According to a third aspect of an embodiment of the present application, there is provided an electronic device, comprising: a processor; and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method for processing vehicle jamming as described above is implemented.

According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the method for processing vehicle jamming as described above is implemented.

In the scheme of the present application, when a jamming vehicle is detected within the prediction range of the self-vehicle, the target position where the self-vehicle collides with the jamming vehicle is determined based on the current position information of the self-vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the self-vehicle and the jamming vehicle, and the second predicted position information of the self-vehicle at the target position and the first predicted position information of the jamming vehicle at the target position are determined, and then the lateral overlap rate between the self-vehicle and the jamming vehicle can be determined based on the first predicted position information and the second predicted position information, so that the jamming handling strategy of the self-vehicle for the jamming behavior of the jamming vehicle can be determined based on the lateral overlap rate, and then the self-vehicle is controlled according to the determined jamming handling strategy. The present application can determine the corresponding jamming handling strategy based on the lateral overlap rate between the jamming vehicle and the self-vehicle when it is determined that there is a jamming vehicle, enriching the jamming handling strategy of the vehicle for different scenarios, avoiding braking avoidance for jamming vehicles with jamming intentions under any circumstances, and ensuring the safe driving of the self-vehicle when a vehicle is jamming.

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.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

FIG1 is a flow chart of a method for handling vehicle jamming according to an embodiment of the present application.

FIG2 is a flow chart of a method for handling vehicle jamming according to another embodiment of the present application.

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

FIG. 4 is a flow chart of a method for handling a vehicle jamming in accordance with another embodiment of the present application.

FIG. 5 is a flowchart showing specific steps of step 340 according to an embodiment of the present application.

FIG. 6 is a flowchart showing specific steps of step 350 according to an embodiment of the present application.

FIG. 7 is a flow chart of a method for handling vehicle jamming according to yet another embodiment of the present application.

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

FIG. 9 is a flow chart of a method for handling vehicle jamming according to yet another embodiment of the present application.

FIG. 10 is a block diagram of a device for processing vehicle jamming according to an embodiment of the present application.

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

The above-mentioned drawings have shown clear embodiments of the present invention, which will be described in more detail hereinafter. These drawings and textual descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention to computer technicians in this field through specific embodiments.

Detailed ways

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

It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these 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 flowcharts shown in the accompanying drawings are merely exemplary and do not necessarily include all the contents and operations/steps, nor do they necessarily have to be executed in the order described. For example, some operations/steps may be further decomposed, while some operations/steps may be combined or partially combined, so the actual execution order may change according to the actual situation.

Please refer to Figure 1, which shows a method for processing vehicle jamming provided by an embodiment of the present application. In a specific embodiment, the method for processing vehicle jamming can be applied to a vehicle jamming processing device 600 as shown in Figure 10 and an electronic device 700 (Figure 11) equipped with the vehicle jamming processing device 600. The specific process of this embodiment will be described below. Of course, it can be understood that the method can be executed by an electronic device with computing and processing capabilities, such as a server, a smart phone connected to a vehicle for communication, a smart wearable device, a vehicle processor, etc., which is not specifically limited here. The process shown in Figure 1 will be described in detail below. The method for processing vehicle jamming can specifically include the following steps:

Step 110: If a jamming vehicle is detected within a preset range of the own vehicle, the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the own vehicle and the jamming vehicle are obtained.

As a method, if a vehicle cuts in during the normal driving of the vehicle, it may cause a collision between the vehicle and the cutting vehicle. In order to ensure the safe driving of the vehicle, it is possible to detect whether there is a cutting vehicle within a preset range of the vehicle, so as to determine whether the cutting vehicle can be processed in time when there is a cutting vehicle, so as to avoid a collision between the vehicle and the cutting vehicle. Optionally, the preset range may be the maximum range that can be detected by the perception module of the vehicle. Among them, the perception module of the vehicle may include a processor and a variety of sensors. Optionally, the sensor may include a visual sensor, an infrared sensor, a radar sensor, a millimeter wave sensor, etc. The type and quantity of sensors in the perception module may be set according to actual needs, and are not specifically limited here.

As a method, the current position information of the vehicle can be obtained through the positioning module of the vehicle, and the positioning data of the positioning module and the visual sensor data of the visual sensor in the perception module are used to perform data fusion to determine the current position information of the vehicle that cuts in. Optionally, the relative heading angle and relative speed of the vehicle and the vehicle that cuts in can be obtained through the perception module of the vehicle. For example, the current speed and current heading angle of the vehicle that cuts in can be determined through the radar sensor in the perception module of the vehicle, and the current heading angle and current speed of the vehicle can be obtained through the perception module, and then the relative heading angle and relative speed of the vehicle and the vehicle that cuts in can be determined based on the current heading angle and current speed of the vehicle and the current heading angle and current speed of the vehicle that cuts in.

Step 120, based on the current position information of the own vehicle, the current position information of the jam-in vehicle, the relative heading angle and the relative vehicle speed, determine the target position where the own vehicle collides with the jam-in vehicle, and determine the first predicted position information of the jam-in vehicle at the target position and the second predicted position information of the own vehicle at the target position.

As a method, the assisted driving system of the vehicle can determine the driving trajectory and predicted driving trajectory of the vehicle according to the current position information of the vehicle, the current heading angle of the vehicle and the current speed of the vehicle, and determine the driving trajectory and predicted driving trajectory of the jamming vehicle according to the current position information of the jamming vehicle and the relative heading angle and relative speed between the vehicle and the jamming vehicle. Based on the predicted driving trajectory of the vehicle and the predicted driving trajectory of the jamming vehicle, it is determined whether a collision will occur between the vehicle and the jamming vehicle if they travel at the current heading angle and the current speed. Then, if it is determined that a collision will occur, the target position of the collision is determined according to the predicted driving trajectory of the vehicle and the predicted driving trajectory of the jamming vehicle, and the second predicted position information of the vehicle at the target position and the first predicted position information of the jamming vehicle at the target position are determined according to the target positions.

Optionally, the first predicted position information may include the specific coordinate values of the four corner points of the body size of the vehicle that is cutting in at the target position, and the second predicted position information may include the specific coordinate values of the four corner points of the body size of the vehicle at the target position. Optionally, the four corner points of the body size may be two corner points corresponding to the front of the vehicle and two corner points corresponding to the rear of the vehicle, respectively.

In other embodiments, the relative positions of the own vehicle and the jamming vehicle within a preset range can be predicted in real time at a predicted sampling frequency based on the body size of the own vehicle, the body size of the jamming vehicle, the relative heading angle and relative speed between the own vehicle and the jamming vehicle (i.e., the coordinates of the four corner points corresponding to the body sizes of the own vehicle and the jamming vehicle within the preset range are predicted respectively). At the same time, it is determined in real time whether the corner points of the front of the own vehicle and the jamming vehicle adjacent to each other are located on the straight line formed by the corner points of the front of the jamming vehicle and the corner points of the parking space adjacent to the own vehicle, and the horizontal coordinates of the corner points of the front of the own vehicle and the jamming vehicle adjacent to each other are located between the horizontal coordinates of the corner points of the front of the jamming vehicle and the corner points of the parking space adjacent to the own vehicle. If this is the case, it is determined that the own vehicle and the jamming vehicle will collide if they travel at the current relative heading angle and relative speed. Then, the target position of the collision as well as the second predicted position information of the own vehicle at the target position and the first predicted position information of the jamming vehicle at the target position are recorded. For example, if it is predicted in real time that the corner point of the front of the ego vehicle and the jamming vehicle is adjacent to ego1(x1,y1), the corner point of the front of the jamming vehicle and the ego vehicle is target0(x0,y0), and the corner point of the parking space of the jamming vehicle and the ego vehicle is target2(x2,y2), then first determine the straight line y=kx+b formed by the corner point of the front of the jamming vehicle and the corner point of the parking space according to target0 and target2, where Then, ego1(x1,y1) is substituted into the straight line equation to determine whether the corner point of the front of the ego vehicle adjacent to the jamming vehicle is located on the straight line formed by the corner point of the front of the jamming vehicle adjacent to the ego vehicle and the corner point of the parking space. When it is determined to be on the straight line and x0<x1<x2, it is determined that the ego vehicle will collide with the jamming vehicle. At this time, the second predicted position information of the ego vehicle can be determined according to ego1, and the first predicted position information of the jamming vehicle can be determined according to target0 and target2.

Step 130: Determine a lateral overlap rate between the jam-in vehicle and the own vehicle based on the first predicted position information and the second predicted position information.

As a method, after determining the first predicted position information and the second predicted position information, since the ego vehicle and the jamming vehicle will collide at the target position if they travel at the current average speed, it is necessary to perform acceleration control or deceleration control on the vehicle. In order to determine whether to perform acceleration control or deceleration control on the ego vehicle, the lateral overlap rate between the ego vehicle and the jamming vehicle can be calculated first, and then determined according to the specific value of the lateral overlap rate, wherein the lateral overlap rate refers to the overlap between the jamming vehicle and the ego vehicle. Optionally, the lateral overlap rate can be calculated according to the horizontal coordinates of the front corner points in the second predicted position information of the ego vehicle and the horizontal coordinates of the front corner points of the jamming vehicle.

Step 140 , determining a lane-cutting processing strategy according to the magnitude relationship between the lateral overlap rate and the lateral overlap rate threshold, and performing vehicle speed control according to the lane-cutting processing strategy.

As a method, after calculating the lateral overlap rate, in order to determine whether the vehicle is performing acceleration control or deceleration control on the vehicle, the lateral overlap rate can be compared with a preset value, which is a lateral overlap rate threshold, so as to determine the jamming handling strategy of the vehicle for the jamming vehicle according to the magnitude relationship between the lateral overlap rate and the lateral overlap rate threshold. Optionally, the jamming handling strategy may include an acceleration control strategy and a deceleration control strategy. Optionally. The corresponding jamming handling strategy can be determined according to the specific value of the lateral overlap rate.

In an embodiment of the present application, when a jamming vehicle is detected within the prediction range of the self-vehicle, the target position where the self-vehicle collides with the jamming vehicle is determined based on the current position information of the self-vehicle, the current position information of the jamming vehicle, the relative heading angle and the relative speed of the self-vehicle and the jamming vehicle, and the second predicted position information of the self-vehicle at the target position and the first predicted position information of the jamming vehicle at the target position are determined, and then the lateral overlap rate between the self-vehicle and the jamming vehicle can be determined based on the first predicted position information and the second predicted position information, so that the jamming handling strategy of the self-vehicle for the jamming behavior of the jamming vehicle can be determined based on the lateral overlap rate, and then the self-vehicle is controlled according to the determined jamming handling strategy. The present application can determine the corresponding jamming handling strategy based on the lateral overlap rate between the jamming vehicle and the self-vehicle when it is determined that there is a jamming vehicle, enriching the jamming handling strategy of the vehicle for different scenarios, avoiding braking avoidance for jamming vehicles with jamming intentions under any circumstances, and ensuring the safe driving of the self-vehicle when a vehicle is jamming.

Please refer to FIG2 , which shows a method for handling vehicle jamming provided by an embodiment of the present application. The following will describe in detail the process shown in FIG2 , and the method for handling vehicle jamming may specifically include the following steps:

Step 210: If a jamming vehicle is detected within a preset range of the own vehicle, the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the own vehicle and the jamming vehicle are obtained.

Step 220, based on the current position information of the own vehicle, the current position information of the jam-in vehicle, the relative heading angle and the relative vehicle speed, determine the target position where the own vehicle collides with the jam-in vehicle, and determine the first predicted position information of the jam-in vehicle at the target position and the second predicted position information of the own vehicle at the target position.

Step 230, determining the first target point of the vehicle that cuts in based on the first predicted position information, and determining the second target point and the third target point of the own vehicle based on the second predicted position information, wherein the first target point is a point adjacent to the own vehicle among the two points corresponding to the front of the vehicle that cuts in, and the second target point and the third target point are two points corresponding to the front of the own vehicle.

As a method, since the lateral overlap rate characterizes the lateral overlap between the ego vehicle and the jamming vehicle, as shown in FIG3 , the lateral overlap rate between the jamming vehicle and the ego vehicle is the lateral overlap between the jamming vehicle and the ego vehicle, that is, the overlap between the front of the jamming vehicle and the front of the ego vehicle. As shown in FIG3 , the lateral overlap rate can be calculated by the coordinates between the points of the two fronts of the jamming vehicle adjacent to the ego vehicle and the corresponding two fronts of the ego vehicle, that is, first determine 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 ego vehicle can determine the first target point, the second target point, and the third target point based on the body size of the ego vehicle and the body size of the jamming vehicle.

Step 240, respectively determine the horizontal coordinates of the first target point, the second target point, and the third target point, and determine the horizontal overlap rate based on the horizontal coordinates of the first target point, the second target point, and the third target point.

As a method, after determining the first target point, the second target point, and the third target point, in order to determine the horizontal overlap rate, it is necessary to determine the horizontal coordinates of the first target point, the second target point, and the third target point at the target position, respectively, and then the horizontal overlap rate can be calculated based on the horizontal coordinates. Optionally, the horizontal overlap rate can be obtained by calculating the difference between the horizontal coordinates of the first target point and the second target point and dividing the difference between the horizontal coordinates of the second target point and the third target point. For example, if the horizontal coordinate of the first target point is a, the horizontal coordinate of the second target point is b, and the horizontal coordinate of the third target point is c, then the horizontal overlap rate N = (b-a)/(b-c).

Step 250: determining a lane-cutting processing strategy according to the magnitude relationship between the lateral overlap rate and the lateral overlap rate threshold, and performing vehicle speed control according to the lane-cutting processing strategy.

The specific steps of step 210 to step 220 and step 250 may refer to step 110 to step 120 and step 140, which will not be described in detail here.

In this embodiment, the lateral overlap rate is determined based on the second target point and the third target point corresponding to the second predicted position of the ego vehicle at the target position and the first target point corresponding to the first predicted position information of the jam-in vehicle at the target position, thereby ensuring the accuracy of the lateral overlap rate, thereby improving the accuracy of determining the jam-in handling strategy and ensuring the safe driving of the ego vehicle.

Please refer to FIG4 , which shows a method for handling vehicle jamming provided by an embodiment of the present application. The following will describe in detail the process shown in FIG4 , and the method for handling vehicle jamming may specifically include the following steps:

Step 310: If a jamming vehicle is detected within a preset range of the own vehicle, the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the own vehicle and the jamming vehicle are obtained.

Step 320, based on the current position information of the own vehicle, the current position information of the jam-in vehicle, the relative heading angle and the relative vehicle speed, determine the target position where the own vehicle collides with the jam-in vehicle, and determine the first predicted position information of the jam-in vehicle at the target position and the second predicted position information of the own vehicle at the target position.

Step 330: Determine a lateral overlap rate between the jam-in vehicle and the own vehicle based on the first predicted position information and the second predicted position information.

Step 340: If the lateral overlap rate is less than the lateral overlap rate threshold, the lane-intercepting processing strategy is determined to be the first lane-intercepting processing strategy, and acceleration control is performed according to the first lane-intercepting processing strategy.

As a method, a lateral overlap rate threshold can be set, and the lateral overlap rate threshold is used to determine whether to perform acceleration control or deceleration control on the vehicle. Optionally, when the lateral overlap rate is less than the lateral overlap rate threshold, it can be determined that if the vehicle accelerates to travel, it can avoid colliding with the vehicle cutting in, and can avoid other vehicles cutting in. Among them, the lateral overlap rate threshold can be set according to actual needs and is not specifically limited here.

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

Step 341: If the lateral overlap rate is less than the lateral overlap rate threshold, determine the lateral distance that the jam-in vehicle travels from the current position of the jam-in vehicle to the target position, and determine the target duration based on the lateral speed of the jam-in vehicle and the lateral distance, wherein the target duration is the duration that the jam-in vehicle travels from the current position of the jam-in vehicle to the target position.

As a method, when it is determined that the lateral overlap rate is less than the lateral overlap rate threshold, it is necessary to determine the acceleration of the control vehicle to accelerate. In order to determine the acceleration, it is necessary to first determine the time required for the jamming vehicle to travel from the current position to the target position, that is, the target time. Optionally, the lateral distance of the jamming vehicle from the current position to the target position can be determined first, and then the target time is calculated based on the lateral speed and lateral distance of the jamming vehicle. For example, the horizontal coordinate of the point corresponding to the front of the jamming vehicle at the current position is A, and the horizontal coordinate of the point corresponding to the front of the jamming vehicle at the target position is B, then the lateral distance L1 = B-A, the lateral speed of the jamming vehicle is V1, then the target time T = B/V1.

Step 342: Determine the longitudinal distance that the vehicle that cuts in moves within the target duration based on the target duration and the longitudinal speed of the vehicle that cuts in.

As a method, in order to calculate the acceleration, it is also necessary to determine the longitudinal distance of the jamming vehicle from the current position to the target position. Optionally, the longitudinal speed of the jamming vehicle can be calculated by the target duration set. If the longitudinal speed is V2, the longitudinal distance L2 = T*V2.

Step 343, obtain the safety distance, and determine the target acceleration according to the safety distance, the longitudinal distance, the longitudinal speed of the vehicle cutting in, the longitudinal speed of the own vehicle and the target duration, and perform acceleration control on the own vehicle with the target acceleration, wherein the safety distance is the minimum distance for safe longitudinal travel between the own vehicle and the vehicle cutting in.

As a way, in order to ensure the safe driving of the vehicle, when determining the acceleration of the vehicle, it is necessary to consider the longitudinal safety distance between the vehicle and the vehicle that is jamming in, and add the safety distance to the calculated acceleration to ensure the safe driving of the vehicle. Optionally, the acceleration can be calculated according to the formula (vy_ego*T+0.8*a1*T^2)-L2-vy_target*T=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 that is jamming in, and L_safe is the safety distance, and the acceleration can be obtained as a1=((L_before+vy_target*T+L_safe)-vy_ego*T)/(0.8*T^2).

Please continue to refer to FIG. 4 , step 350 , if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, then the strategy is determined to be a second lane-cutting processing strategy, and deceleration control is performed according to the second lane-cutting processing strategy.

As a method, when the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, it can be determined that if the vehicle decelerates to travel, a collision with the vehicle that is cutting in can be avoided, and then the deceleration in the second cutting-in handling strategy is determined, so that the vehicle can be decelerated according to the acceleration.

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

Step 351: If the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, determine the lateral distance that the jam-in vehicle travels from the current position of the jam-in vehicle to the target position, and determine the target duration based on the lateral speed of the jam-in vehicle and the lateral distance, wherein the target duration is the duration that the jam-in vehicle travels from the current position of the jam-in vehicle to the target position.

Step 352: Determine the longitudinal distance that the vehicle that cuts in moves within the target duration based on the target duration and the longitudinal speed of the vehicle that cuts in.

The specific step descriptions of step 351 and step 352 can refer to step 341 and step 342, which will not be repeated here.

Step 353, obtain the safety distance, and determine the target deceleration based on the safety distance, the longitudinal distance, the longitudinal speed of the vehicle that cuts in, the longitudinal speed of the own vehicle and the target duration, and decelerate the own vehicle at the target deceleration, wherein the safety distance is the minimum distance between the own vehicle and the vehicle that cuts in for safe driving in the longitudinal direction.

As a way, in order to ensure the safe driving of the vehicle, when determining the deceleration of the vehicle, it is necessary to consider the longitudinal safety distance between the vehicle and the vehicle that is jamming in, and add the safety distance to the calculation of the deceleration to ensure the safe driving of the vehicle. Optionally, the acceleration can be calculated according to the formula L_before-(vy_ego*T+0.8*a2*T^2)+vy_target*T=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 that is jamming in, and L_safe is the safety distance, and the acceleration can be obtained as a2=((L_before+vy_target*T-L_safe)-vy_ego*T)/(0.8*T^2).

In this embodiment, the specific strategy of the vehicle for cutting in against a vehicle that cuts in is determined based on the relationship between the lateral overlap rate and the lateral overlap rate. After determining the specific strategy, the acceleration or deceleration of the specific strategy can be determined based on the lateral speed and longitudinal speed of the vehicle that cuts in and the safety distance to ensure the safe driving of the vehicle. This ensures the safe driving of the vehicle while also improving the accuracy of the vehicle's response to the cutting in behavior.

Please refer to FIG. 7 , which shows a method for handling a vehicle jamming provided by an embodiment of the present application. The following will describe in detail the process shown in FIG. 7 , and the method for handling a vehicle jamming may specifically include the following steps:

Step 410: If a jamming vehicle is detected within a preset range of the own vehicle, the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and relative speed of the own vehicle and the jamming vehicle are obtained.

Step 420, determining a first predicted driving trajectory of the own vehicle based on the current position information of the own vehicle and the relative heading angle, and determining a second predicted driving trajectory of the jam-in vehicle based on the current position information of the jam-in vehicle and the relative heading angle.

Step 430: If it is determined that the first predicted driving trajectory and the second predicted driving trajectory have an intersection, the intersection of the first predicted driving trajectory and the second predicted driving trajectory is determined as the target position.

As a method, after determining the first predicted driving trajectory and the second predicted driving trajectory, it can be determined whether the vehicle and the vehicle that cuts in will collide if they travel at the new team speed and relative heading angle based on whether the first predicted driving trajectory and the second predicted driving trajectory have an intersection. Optionally, if the first predicted driving trajectory and the second predicted driving trajectory have an intersection, it is determined that the vehicle and the vehicle that cuts in will collide if they travel at the new team speed and relative heading angle, and the position corresponding to the intersection is determined as the target position where the vehicle and the vehicle that cuts in will collide. As shown in Figure 8, X is the first predicted driving trajectory, Y is the second predicted driving trajectory, and the intersection Q corresponds to the target position where the vehicle and the vehicle that cuts in will collide.

Step 440: Determine the first predicted position information and the second predicted position information based on the target position.

As a method, after the target position is determined, the second predicted position information of the own vehicle and the first predicted position information of the jamming vehicle can be determined respectively according to the body size of the own vehicle and the body size of the jamming vehicle. Optionally, the first predicted position information may include the coordinate information of the two corner points of the front of the jamming vehicle determined according to the size of the jamming vehicle, and the second predicted position information may include the coordinate information of the two corner points of the front of the own vehicle determined according to the size of the own vehicle.

Step 450: Determine a lateral overlap rate between the jam-in vehicle and the own vehicle based on the first predicted position information and the second predicted position information.

Step 460: Determine a lane-cutting processing strategy according to the magnitude relationship between the lateral overlap rate and the lateral overlap rate threshold, and perform vehicle speed control according to the lane-cutting processing strategy.

The specific step descriptions of step 410 - step 420 and step 450 - step 460 may refer to step 110 and step 130 - step 140 , which will not be repeated here.

In this embodiment, whether the own vehicle and the jam-in vehicle will collide is determined by determining whether there is an intersection between the first predicted driving trajectory and the second predicted driving trajectory, and when there is an intersection, the first predicted position information and the second predicted position information are determined according to the target position, thereby ensuring the accuracy of the own vehicle's processing of the jam-in vehicle. The first predicted position information and the second predicted position information are determined only when the own vehicle and the jam-in vehicle are likely to collide, thereby improving the accuracy of the own vehicle's jam-in processing and avoiding waste of resources.

Please refer to FIG9 , which shows a method for handling vehicle jamming provided by an embodiment of the present application. The following will describe in detail the process shown in FIG9 , and the method for handling vehicle jamming may specifically include the following steps:

Step 510, obtaining the current heading angle of the ego vehicle and the current heading angle of a reference vehicle within a preset detection range of the ego vehicle, and determining the heading angle difference between the current heading angle of the ego vehicle and the current heading angle of the reference vehicle.

As a method, in order to determine whether there is a vehicle cutting in during the driving process of the ego vehicle, that is, to determine whether there is a vehicle cutting in, it can be determined by calculating the heading angle difference between the vehicle within the predicted detection range of the ego vehicle and the ego vehicle. Optionally, in order to accurately determine the vehicle cutting in, other vehicles within the predicted detection range of the ego vehicle are required as reference vehicles, and then the current heading angle of the reference vehicle can be obtained through the perception module of the ego vehicle, and the current heading angle of the ego vehicle can be obtained through the perception module, and then the heading angle difference between the current heading angle of the ego vehicle and the current heading angle of the reference vehicle can be determined.

Step 520: Determine the lateral distance between the ego vehicle and the reference vehicle within a preset time period.

As a method, whether the reference vehicle has the intention to cut in can be determined by determining whether the lateral distance between the ego vehicle and the reference vehicle is continuously decreasing. Optionally, a period can be preset to periodically and continuously obtain the lateral distance between the ego vehicle and the reference vehicle, that is, obtain the lateral distance between the ego vehicle and the reference vehicle within the prediction time.

Step 530: If the heading angle difference is less than the heading angle threshold and the lateral distance between the self-vehicle and the reference vehicle continuously decreases within the preset time period, it is determined that the reference vehicle has an intention to cut in, and the reference vehicle is determined as the vehicle that cuts in.

As a way, if it is determined that the heading angle between the own vehicle and the reference vehicle is less than the heading angle threshold, it can be determined that the reference vehicle may have the intention to squeeze in. In order to accurately determine that the reference vehicle is the vehicle that squeezes in, it is necessary to determine whether the lateral distance between the own vehicle and the reference vehicle is constantly decreasing. If it is determined that the lateral distance between the own vehicle and the reference vehicle is constantly decreasing within a preset time period, it can be determined that the reference vehicle has the intention to squeeze in, and the reference vehicle is determined to be the vehicle that squeezes in.

In this embodiment, whether the reference vehicle has the intention to squeeze in is determined based on the heading angle difference between the self-vehicle and the reference vehicle within the predicted detection range of the self-vehicle and the lateral distance within a preset time length. When it is determined that there is the intention to squeeze in, the reference vehicle is determined to be the vehicle to squeeze in, thereby improving the accuracy of the determination of the vehicle to squeeze in.

Figure 10 is a block diagram of a vehicle lane-cutting processing device according to an embodiment of the present application. As shown in Figure 10, the vehicle lane-cutting processing device 600 includes: an acquisition module 610, a predicted position information determination module 620, a lateral overlap rate determination module 630 and a lane-cutting processing strategy determination module 640.

The acquisition module 610 is used to acquire the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and the relative speed of the own vehicle and the jamming vehicle if a jamming vehicle is detected within a preset range of the own vehicle; the predicted position information determination module 620 is used to determine the first predicted position information of the jamming vehicle at the target position and the second predicted position information of the own vehicle at the target position if it is determined that the own vehicle and the jamming vehicle will collide at the target position based on the current position information of the own vehicle, the current position information of the jamming vehicle, the relative heading angle and the relative speed; the lateral overlap rate determination module 630 is used to determine the lateral overlap rate between the jamming vehicle and the own vehicle based on the first predicted position information and the second predicted position information; the jamming processing strategy determination module 640 is used to determine the jamming processing strategy based on the lateral overlap rate, and perform vehicle speed control based on the jamming processing strategy.

In some embodiments, the lateral overlap rate determination module 630 includes: a target point determination submodule, used to determine the first target point of the vehicle that is cutting in based on the first predicted position information, and to determine the second target point and the third target point of the own vehicle based on the second predicted position information, wherein the first target point is the point adjacent to the own vehicle among the two points corresponding to the front of the vehicle that is cutting in, and the second target point and the third target point are the two points corresponding to the front of the own vehicle; a lateral overlap rate, used to respectively determine the lateral coordinates of the first target point, the second target point, and the third target point, and to determine the lateral overlap rate based on the lateral coordinates of the first target point, the second target point, and the third target point.

In some embodiments, the lane-crossing handling strategy determination module 640 includes: a first lane-crossing handling strategy determination submodule, which is used to determine that the lane-crossing handling strategy is a first lane-crossing handling strategy if the lateral overlap rate is less than a lateral overlap rate threshold, and perform acceleration control according to the first lane-crossing handling strategy; a second lane-crossing handling strategy determination submodule, which is used to determine that the strategy is a second lane-crossing handling strategy if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, and perform deceleration control according to the second lane-crossing handling strategy.

In some embodiments, the first jamming handling strategy determination submodule includes: a first target duration determination unit, which is used to determine the lateral distance traveled by the jamming vehicle from the current position of the jamming vehicle to the target position if the lateral overlap rate is less than the lateral overlap rate threshold, and determine the target duration according to the lateral speed of the jamming vehicle and the lateral distance, wherein the target duration is the duration for the jamming vehicle to travel from the current position of the jamming vehicle to the target position; a first longitudinal distance determination unit, which is used to determine the longitudinal distance moved by the jamming vehicle within the target duration according to the target duration and the longitudinal speed of the jamming vehicle; a target acceleration determination unit, which is used to obtain a safety distance, and determine a target acceleration according to the safety distance, the longitudinal distance, the longitudinal speed of the jamming vehicle, the longitudinal speed of the self-vehicle and the target duration, and perform acceleration control on the self-vehicle with the target acceleration, wherein the safety distance is the minimum distance for safe longitudinal travel between the self-vehicle and the jamming vehicle.

In some embodiments, the second jamming handling strategy determination submodule includes: a second target duration determination unit, which is used to determine the lateral distance traveled by the jamming vehicle from the current position of the jamming vehicle to the target position if the lateral overlap rate is equal to or greater than the lateral overlap rate threshold, and determine the target duration according to the lateral speed of the jamming vehicle and the lateral distance, wherein the target duration is the duration for the jamming vehicle to travel from the current position of the jamming vehicle to the target position; a second longitudinal distance determination unit, which is used to determine the longitudinal distance moved by the jamming vehicle within the target duration according to the target duration and the longitudinal speed of the jamming vehicle; a target deceleration determination unit, which is used to obtain a safety distance, and determine a target deceleration according to the safety distance, the longitudinal distance, the longitudinal speed of the jamming vehicle, the longitudinal speed of the self-vehicle and the target duration, and decelerate the self-vehicle at the target deceleration, wherein the safety distance is the minimum distance for safe longitudinal travel between the self-vehicle and the jamming vehicle.

In some embodiments, the predicted position information determination module 620 includes: a predicted driving trajectory determination submodule, used to determine the first predicted driving trajectory of the vehicle according to the current position information of the vehicle and the relative heading angle, and to determine the second predicted driving trajectory of the vehicle according to the current position information of the vehicle and the relative heading angle; a target position determination submodule, used to determine the intersection of the first predicted driving trajectory and the second predicted driving trajectory as the target position if it is determined that the first predicted driving trajectory and the second predicted driving trajectory have an intersection; a predicted position information determination submodule, used to determine the first predicted position information and the second predicted position information based on the target position.

In some embodiments, the vehicle jamming processing device 600 also includes: a heading angle difference determination module, used to obtain the current heading angle of the own vehicle and the current heading angle of a reference vehicle within a preset detection range of the own vehicle, and determine the heading angle difference between the current heading angle of the own vehicle and the current heading angle of the reference vehicle; a lateral distance determination module, used to determine the lateral distance between the own vehicle and the reference vehicle within a preset time length; a jamming vehicle determination module, used to determine that the reference vehicle has an intention to jam if the heading angle difference is less than a heading angle threshold and the lateral distance between the own vehicle and the reference vehicle continuously decreases within the preset time length, and determine the reference vehicle as the jamming vehicle.

According to one aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method in any of the above embodiments.

According to one aspect of an embodiment of the present application, an electronic device is also provided. As shown in FIG11 , the vehicle 700 includes a processor 710 and one or more memories 720. The one or more memories 720 are used to store program instructions executed by the processor 710. When the processor 710 executes the program instructions, the above-mentioned method for processing vehicle jamming is implemented.

Furthermore, the processor 710 may include one or more processing cores. The processor 710 runs or executes instructions, programs, code sets or instruction sets stored in the memory 720, and calls data stored in the memory 720. Optionally, the processor 710 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 710 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor, but may be implemented separately through a communication chip.

According to one aspect of the present application, the present application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable storage medium carries computer-readable instructions, and when the computer-readable storage instructions are executed by a processor, the method in any of the above embodiments is implemented.

It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

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

Claims (10)

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;

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.

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:

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;

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.