CN117416375A

CN117416375A - Vehicle avoidance method, device, equipment and storage medium

Info

Publication number: CN117416375A
Application number: CN202311450743.4A
Authority: CN
Inventors: 李纪玄; 赵沁; 刘继峰; 凃圣偲; 付斌
Original assignee: Lantu Automobile Technology Co Ltd
Current assignee: Lantu Automobile Technology Co Ltd
Priority date: 2023-10-31
Filing date: 2023-10-31
Publication date: 2024-01-19

Abstract

The invention relates to the technical field of unmanned vehicles, in particular to a vehicle avoidance method, device, equipment and storage medium.

Description

Vehicle avoidance method, device, equipment and storage medium

Technical Field

The present invention relates to the field of unmanned technologies, and in particular, to a vehicle avoidance method, apparatus, device, and storage medium.

Background

With the development of artificial intelligence, unmanned vehicles can be realized gradually, wherein a cruise mode of the vehicle is represented, in the cruise mode, the vehicle can run, turn to, avoid and other operations according to the road condition of the current road, but the existing unmanned technology meets special vehicles such as ambulances or police cars on the road, and can not effectively avoid the special vehicles.

The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.

Disclosure of Invention

The invention mainly aims to provide a vehicle avoiding method, device, equipment and storage medium, and aims to solve the technical problem that an unmanned vehicle cannot avoid a special vehicle in time in the cruising process in the prior art.

In order to achieve the above object, the present invention provides a vehicle avoidance method, which includes the steps of:

acquiring audio information in the environment of the current vehicle and the relative speed of the target perceived vehicle;

judging the running trend of the target perception vehicle according to the audio information;

when the target perceived vehicle is approaching trend, calculating a vehicle speed difference value between the estimated vehicle speed corresponding to the audio information and the relative vehicle speed;

and controlling the current vehicle to avoid according to a control strategy corresponding to the vehicle speed difference value.

Optionally, the determining, according to the audio information, a driving trend of the target perception vehicle includes:

extracting high-frequency audio frequency in the audio information;

determining a characteristic vehicle frequency of the high frequency audio frequency match;

obtaining a predicted vehicle speed according to the high-frequency sound frequency, the characteristic vehicle frequency and a preset sound speed;

and judging the running trend of the target perception vehicle according to the estimated vehicle speed.

Optionally, the determining the driving trend of the target perceived vehicle according to the estimated vehicle speed includes:

when the estimated vehicle speed is greater than a preset threshold value, the target perceives that the running trend of the vehicle is a approaching trend;

when the estimated vehicle speed is equal to a preset threshold value, the target perceives the running trend of the vehicle as a synchronous trend;

and when the estimated vehicle speed is smaller than a preset threshold value, the target perceives that the running trend of the vehicle is a far-away trend.

Optionally, the controlling the current vehicle to avoid according to the control policy corresponding to the vehicle speed difference value includes:

judging whether a vehicle to be avoided exists in a sensing area of the current vehicle according to the vehicle speed difference value;

if so, determining the number of the vehicles to be avoided;

detecting whether the vehicles to be avoided exist behind the current vehicle or not when the number of the vehicles to be avoided is smaller than a preset number threshold value;

if so, determining adjacent driving lanes of the current vehicle, and calculating a distance difference value between the current vehicle and the target avoidance vehicle;

and when the distance difference value is larger than a preset distance threshold value and the adjacent driving lanes have lane change spaces, controlling the current vehicle to change lanes to the adjacent driving lanes according to a preset lane change strategy.

Optionally, after determining the number of vehicles to be avoided, the method further includes:

when the number of the vehicles to be avoided is not smaller than a preset number threshold, calculating a distance difference value between the current vehicle and the target avoiding vehicle;

when the distance difference value is larger than or equal to a preset distance threshold value, counting a speed change curve of each vehicle to be avoided;

screening the vehicles to be avoided according to the speed change curve;

and controlling the current vehicle to avoid according to the screening result and a control strategy corresponding to the target avoidance vehicle.

Optionally, the controlling the current vehicle to avoid according to the screening result and the control policy corresponding to the target avoiding vehicle includes:

if the target avoidance vehicle is successfully matched with the screening result, executing the steps of determining the adjacent driving lanes of the current vehicle and calculating the distance difference between the current vehicle and the target avoidance vehicle;

if the matching of the target avoidance vehicle and the screening result fails, detecting again the distance difference value between the current vehicle and the target avoidance vehicle until no vehicle meeting the avoidance condition exists in the sensing area of the current vehicle.

Optionally, the vehicle avoidance method further includes:

and generating reminding information to remind a driver of changing lanes when the distance difference between the current vehicle and the target avoidance vehicle is smaller than a preset distance threshold value.

In addition, in order to achieve the above object, the present invention also provides a vehicle avoidance device, including:

the acquisition module is used for acquiring the audio information in the environment where the current vehicle is located and the relative speed of the target perception vehicle;

the judging module is used for judging the running trend of the target perception vehicle according to the audio information;

the calculation module is used for calculating a vehicle speed difference value between the estimated vehicle speed corresponding to the audio information and the relative vehicle speed when the target perceived vehicle is approaching trend;

and the control module is used for controlling the current vehicle to avoid according to a control strategy corresponding to the vehicle speed difference value.

In addition, in order to achieve the above object, the present invention also provides a vehicle avoidance apparatus, including: the vehicle avoidance system comprises a memory, a processor and a vehicle avoidance program stored on the memory and capable of running on the processor, wherein the vehicle avoidance program is configured to realize the steps of the vehicle avoidance method.

In addition, in order to achieve the above object, the present invention further provides a storage medium, on which a vehicle avoidance program is stored, the vehicle avoidance program implementing the steps of the vehicle avoidance method as described above when executed by a processor.

The invention discloses a vehicle avoiding method, which comprises the following steps: acquiring audio information in the environment of the current vehicle and the relative speed of the target perceived vehicle; judging the running trend of the target perception vehicle according to the audio information; when the target perceived vehicle is approaching trend, calculating a vehicle speed difference value between the estimated vehicle speed corresponding to the audio information and the relative vehicle speed; compared with the prior art, the method and the device have the advantages that the relative speed and the audio information of the vehicle are obtained through the control strategy corresponding to the speed difference value, the driving trend of the target perception vehicle is judged according to the audio information, so that whether the special vehicle is blocked or not is judged, when the target perception vehicle is in a trend of approaching, the speed difference value between the estimated speed corresponding to the audio information and the relative speed is calculated, further, whether the risk of collision with the special vehicle exists or not is judged, finally, the current vehicle is controlled to avoid according to the control strategy corresponding to the speed difference value, the technical problem that the special vehicle cannot be timely avoided in the cruising process of the unmanned vehicle in the prior art is avoided, the cruising safety of the unmanned vehicle is improved, and the use experience of a user is improved.

Drawings

FIG. 1 is a schematic diagram of a vehicle avoidance device of a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a first embodiment of a vehicle avoidance method of the present invention;

FIG. 3 is a flow chart of a second embodiment of a vehicle avoidance method of the present invention;

FIG. 4 is a flow chart of a third embodiment of a vehicle avoidance method of the present invention;

FIG. 5 is a schematic diagram of an overall control flow of an embodiment of a vehicle avoidance method of the present invention;

fig. 6 is a block diagram showing the construction of a first embodiment of a vehicle avoidance device of the present invention.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle avoidance device in a hardware operation environment according to an embodiment of the present invention.

As shown in fig. 1, the vehicle avoidance apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.

It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is not limiting of the vehicle evasion apparatus and may include more or fewer components than shown, or certain components in combination, or a different arrangement of components.

As shown in fig. 1, an operating system, a network communication module, a user interface module, and a vehicle avoidance program may be included in the memory 1005 as one type of storage medium.

In the vehicle avoidance device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the vehicle avoidance device of the present invention may be disposed in the vehicle avoidance device, where the vehicle avoidance device invokes a vehicle avoidance program stored in the memory 1005 through the processor 1001, and executes the vehicle avoidance method provided by the embodiment of the present invention.

The embodiment of the invention provides a vehicle avoiding method, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the vehicle avoiding method.

In this embodiment, the vehicle avoidance method includes the following steps:

step S10: and acquiring the audio information in the environment of the current vehicle and the relative speed of the target perception vehicle.

It should be noted that, the execution body of the method of this embodiment may be a device having functions of data processing, program running, data acquisition, and the like, for example: the control chip of the vehicle, the in-vehicle controller, or the like may be any other device capable of realizing the same or similar functions, and this embodiment is not particularly limited, and in the present embodiment and the following embodiments, the in-vehicle controller will be described as an example.

It should be noted that, the object-aware vehicle refers to a vehicle directly behind within a certain range of the vehicle, for example: the vehicle immediately behind within 20m, which is not particularly limited in this embodiment.

It will be appreciated that a general vehicle may make relatively low sounds when traveling on a road, as compared to a special vehicle, such as: the special vehicles such as ambulances or police cars generally emit sharper high-frequency sounds, and whether the special vehicles exist in the vehicle range can be well distinguished by collecting the audio information of the vehicles perceived from the right back, so that whether avoidance is needed or not is judged.

In addition, in order to ensure the safety of the host vehicle and other vehicles, in consideration of the possibility of lane change, the embodiment collects the audio information in the environment where the vehicles are located so that the lane change time can be referred to when the lane change is needed later, and the safe lane change is realized.

In a specific implementation, the audio information of the target perception vehicle may be acquired through an audio acquisition device set in the vehicle, and for the accuracy of subsequent judgment, the acquired audio information may be further denoised, for example: the band-pass denoising or low-pass denoising, etc., and in addition, the sound collection device may be a microphone in the vehicle interior or an additionally provided sound card, etc., which is not particularly limited in this embodiment.

Taking an ambulance as an example, the alarm sound sent by the ambulance is similar to well-well, 1 second for 1 time, the high-frequency sound is 950Hz, the low-frequency sound is 700Hz, at this time, the noise can be removed by removing the audio signal with a certain frequency, and the audio signal after being removed is matched with the sound of the ambulance, so that whether the characteristic vehicle exists or not can be judged.

It is to be understood that the relative speed of the target-aware vehicle may be the relative speed of the target perceived from the surroundings of the vehicle obtained by a sensor (typically, two rear angle radars) such as a millimeter wave radar, a rear view camera, or a laser radar provided behind the vehicle.

Step S20: and judging the running trend of the target perception vehicle according to the audio information.

It should be noted that the intensity of the collected audio information has a certain correlation with the distance between the target perceived vehicle and the host vehicle, so when the driving trend of the target perceived vehicle is judged, the sound velocity can be combined according to the frequency of the audio information and the fixed frequency to be matched for judgment.

Step S30: and when the target perceived vehicle is approaching trend, calculating a vehicle speed difference value between the estimated vehicle speed corresponding to the audio information and the relative vehicle speed.

In a specific implementation, if the rear target perceived vehicle gradually approaches the vehicle, it is indicated that there is a collision risk of the vehicle, and timely avoidance is needed, so that the rear special vehicle can pass through in time.

In specific implementation, when the vehicle speed difference is smaller than a preset vehicle speed difference threshold, judging that a special vehicle exists, wherein the preset vehicle speed difference threshold S1 is positively correlated with the self-vehicle speed v3 and the radar detection precision a1, and a specific determination formula is as follows:

S1＝k1*v3*a1

wherein S1 is a preset vehicle speed difference threshold, v3 is the vehicle speed of the vehicle, a1 is radar detection precision, k1 is a coefficient and is a standard quantity.

Step S40: and controlling the current vehicle to avoid according to a control strategy corresponding to the vehicle speed difference value.

In this embodiment, if the vehicle speed difference is greater than a certain threshold, it indicates that there is a collision risk, and if the vehicle speed difference is less than or equal to a certain threshold, it indicates that there is no collision risk, and normal running is performed without lane change.

According to the method, the relative speed and the audio information of the environment target perception vehicle where the vehicle is located are obtained, the running trend of the target perception vehicle is judged according to the audio information, so that whether the running of the special vehicle is blocked is judged, when the target perception vehicle is close to the trend, the speed difference between the estimated speed corresponding to the audio information and the relative speed is calculated, whether the risk of collision with the special vehicle exists is judged, finally, the current vehicle is controlled to avoid according to the control strategy corresponding to the speed difference, the technical problem that the special vehicle cannot be timely avoided in the cruising process of the unmanned vehicle in the prior art is avoided, the cruising safety of the unmanned vehicle is improved, and the use experience of a user is improved.

Referring to fig. 3, fig. 3 is a schematic flow chart of a second embodiment of a vehicle avoidance method according to the present invention.

Based on the first embodiment, in this embodiment, the step S20 includes:

step S201: high-frequency sound frequencies in the audio information are extracted.

The high-frequency audio frequency in the audio information means a high-frequency part of the audio information with a large frequency.

Step S202: and determining the characteristic vehicle frequency matched with the high-frequency audio frequency.

It can be understood that the sound emitted by the special vehicle is generally high-frequency sound, and the characteristic vehicle frequency matched with the high-frequency sound frequency can be determined according to the voiceprint or the frequency waveform of the audio signal, so that whether the characteristic vehicle and the type of the special vehicle exist behind the vehicle can be judged.

Step S203: and obtaining the estimated vehicle speed according to the high-frequency sound frequency, the characteristic vehicle frequency and the preset sound speed.

In a specific implementation, the calculation formula of the estimated vehicle speed is as follows:

v1＝(f1-f2)*v2/f2

wherein f1 is the high-frequency sound frequency, f2 is the characteristic vehicle frequency, v1 is the estimated vehicle speed, and v2 is the sound velocity.

S204: and judging the running trend of the target perception vehicle according to the estimated vehicle speed.

It can be understood that if the estimated vehicle speed V1 is regular and close, the estimated vehicle speed V1 is negative and far away, and the estimated vehicle speed V1 is 0 and is the same as the own vehicle in the same distance and speed.

Further, the determining the driving trend of the target perceived vehicle according to the estimated vehicle speed includes:

In the specific implementation, if the driving trend of the target perception vehicle is a approaching trend, the collision risk is indicated, and avoidance can be performed; if the driving trend of the target perception vehicle is synchronous, the distance between the target perception vehicle at the rear and the vehicle is constant, and no collision risk exists; if the driving trend of the target perception vehicle is a far-away trend, the principle that the target perception vehicle behind gradually operates is shown, the collision risk does not exist, and avoidance is not needed.

The present embodiment is achieved by extracting a high-frequency audio frequency from the audio information; determining a characteristic vehicle frequency of the high frequency audio frequency match; obtaining a predicted vehicle speed according to the high-frequency sound frequency, the characteristic vehicle frequency and a preset sound speed; and judging the running trend of the target perception vehicle according to the estimated vehicle speed, judging whether a characteristic vehicle exists or not according to an audio signal, and estimating the running trend of the rear target perception vehicle according to the high-frequency sound frequency, the characteristic vehicle frequency and the sound velocity in the audio information, so as to judge whether collision risk exists or not, further determining whether the vehicle needs to be controlled to avoid, reducing the safety of the unmanned vehicle during cruising, and improving the riding experience of a user.

Referring to fig. 4, fig. 4 is a schematic flow chart of a third embodiment of a vehicle avoidance method according to the present invention.

Based on the above second embodiment, in this embodiment, the step S40 includes:

step S401: and judging whether the vehicle to be avoided exists in the sensing area of the current vehicle according to the vehicle speed difference value.

It should be noted that, because the collected audio information refers to all audio signals within a certain range from the host vehicle, not only the vehicles right behind the same lane, but also the audio information sent by the vehicles in adjacent lanes are included, and the host vehicle is marked as a vehicle to be avoided as long as a special vehicle is detected in the sensing area of the current vehicle, but in general, only the characteristic vehicles right behind the host vehicle need to be avoided.

Step S402: and if so, determining the number of the vehicles to be avoided.

It can be understood that if the vehicle to be avoided exists in the sensing area of the current vehicle, whether to execute the avoidance operation needs to be considered, at this time, the situation that interference cannot be generated to the special vehicles or the automobiles in other lanes while the special vehicles behind the vehicle to be avoided is considered, and the number of the vehicles to be avoided in the sensing area of the current vehicle can be determined first, and the corresponding avoidance strategy is selected according to the number of the vehicles to be avoided.

Further, after the number of the vehicles to be avoided is determined, the method further includes:

screening the vehicles to be avoided according to the speed change curve;

It can be understood that in the present embodiment and the following embodiments, the preset number threshold may be 1, that is, in the present embodiment, the data of the vehicle to be avoided is divided into 1 and more than 1 two scenes, if only 1 special vehicle exists in the sensing area of the vehicle, and the special vehicle is located right behind the vehicle, and the above avoidance condition (the vehicle speed difference is greater than the preset threshold) is satisfied, the vehicle needs to be controlled to be turned into other lanes to perform the avoidance operation; if the special vehicle is not positioned right behind the vehicle, the avoidance operation is not required to be executed.

In a specific implementation, referring to fig. 5, fig. 5 is a schematic diagram of an overall control logic flow of the embodiment, if the number of perceived vehicles to be avoided is 2 or more, and one of the vehicles is just behind, and the avoidance condition is met, then judging whether the distance between the rear vehicle and the own vehicle is smaller than a preset distance threshold S2, if yes, reminding a passenger or a driver to perform manual operation by generating reminding information; if not, tracking speed changes of all vehicles to be avoided, which meet the conditions, recording target acceleration a1 calculated from a microphone within time t, screening targets with a1, which are different from a1, if only the right-rear targets meet the speed change curve, converting into only the right-rear targets meet the conditions, calculating, and if the right-rear targets cannot be screened, restarting judging the relation between the distance between the rear vehicle and the preset distance threshold.

It should be noted that, the preset distance threshold S2 is a product of a preset base value m plus the relative speed and a fixed time t1, and its specific calculation formula is as follows:

S2＝m+v1*t1

wherein S2 is a preset distance threshold, m is a preset basic value, v1 is a predicted vehicle speed, and t1 is a preset fixed time period.

Further, the controlling the current vehicle to avoid according to the screening result and the control strategy corresponding to the target avoiding vehicle includes:

Step S403: and detecting whether the vehicles to be avoided exist behind the current vehicle or not when the number of the vehicles to be avoided is smaller than a preset number threshold value.

Step S404: if so, determining the adjacent driving lanes of the current vehicle, and calculating the distance difference between the current vehicle and the target avoidance vehicle.

It should be understood that if only 1 special vehicle exists in the sensing area of the host vehicle and the special vehicle is located right behind the host vehicle, the distance difference between the current vehicle and the target avoidance vehicle can be calculated, the distance difference is compared with the preset distance threshold S2, and whether lane change is needed is further judged, if the target avoidance vehicle meeting the avoidance condition exists right behind the host vehicle, whether the lane change space and the lane change condition exist in the adjacent driving lanes of the lane where the host vehicle is located or not needs to be determined, wherein the lane change space can be that no vehicle exists in a certain distance in front and behind, the lane change condition can be that the current vehicle is allowed to change to the adjacent lane or the preset driving direction of the host vehicle is not influenced under the premise of meeting traffic laws and regulations, and the like, and the embodiment is not particularly limited.

Step S405: and when the distance difference value is larger than a preset distance threshold value and the adjacent driving lanes have lane change spaces, controlling the current vehicle to change lanes to the adjacent driving lanes according to a preset lane change strategy.

In a specific implementation, when the distance difference is greater than a preset distance threshold and the lane changing space exists in the adjacent driving lane, the lane is changed to the adjacent lane, and if no lane changing space prompts the driver through a popup window, a sound and the like, the lane changing space is delivered to the driver for processing (temporarily occupying an intersection, temporarily occupying an emergency lane and the like), and the embodiment does not limit the situation specifically.

According to the method, the corresponding vehicle avoidance strategy is determined according to the number of the vehicles to be avoided in the sensing area of the vehicle, so that when only one vehicle to be avoided exists, the lane change to the adjacent lane is realized, the avoidance of the special vehicle is realized, when a plurality of vehicles to be avoided exist and the lane change space exists in the adjacent driving lane, the current vehicle is controlled to be changed to the adjacent driving lane, the safe avoidance of the vehicle is realized, and the use requirement of a user is improved.

In addition, the embodiment of the invention also provides a storage medium, wherein a vehicle avoidance program is stored on the storage medium, and the steps of the vehicle avoidance method are realized when the vehicle avoidance program is executed by a processor.

Because the storage medium adopts all the technical schemes of all the embodiments, the storage medium has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.

Referring to fig. 6, fig. 6 is a block diagram showing the construction of a first embodiment of a vehicle avoidance device of the present invention.

As shown in fig. 6, a vehicle avoidance device according to an embodiment of the present invention includes:

the acquisition module 10 is used for acquiring the audio information in the environment of the current vehicle and the relative speed of the target perception vehicle.

And the judging module 20 is used for judging the running trend of the target perception vehicle according to the audio information.

And the calculating module 30 is used for calculating a vehicle speed difference value between the estimated vehicle speed corresponding to the audio information and the relative vehicle speed when the target perceived vehicle is approaching trend.

And the control module 40 is used for controlling the current vehicle to avoid according to a control strategy corresponding to the vehicle speed difference value.

In an embodiment, the judging module 20 is further configured to extract a high-frequency audio frequency in the audio information; determining a characteristic vehicle frequency of the high frequency audio frequency match; obtaining a predicted vehicle speed according to the high-frequency sound frequency, the characteristic vehicle frequency and a preset sound speed; and judging the running trend of the target perception vehicle according to the estimated vehicle speed.

In an embodiment, the judging module 20 is further configured to, when the estimated vehicle speed is greater than a preset threshold, cause the driving trend of the target perceived vehicle to be a approaching trend; when the estimated vehicle speed is equal to a preset threshold value, the target perceives the running trend of the vehicle as a synchronous trend; and when the estimated vehicle speed is smaller than a preset threshold value, the target perceives that the running trend of the vehicle is a far-away trend.

In an embodiment, the control module 40 is further configured to determine whether a vehicle to be avoided exists in the sensing area of the current vehicle according to the vehicle speed difference value; if so, determining the number of the vehicles to be avoided; detecting whether the vehicles to be avoided exist behind the current vehicle or not when the number of the vehicles to be avoided is smaller than a preset number threshold value; if so, determining adjacent driving lanes of the current vehicle, and calculating a distance difference value between the current vehicle and the target avoidance vehicle; and when the distance difference value is larger than a preset distance threshold value and the adjacent driving lanes have lane change spaces, controlling the current vehicle to change lanes to the adjacent driving lanes according to a preset lane change strategy.

In an embodiment, the control module 40 is further configured to calculate a distance difference between the current vehicle and the target avoidance vehicle when the number of vehicles to be avoided is not less than a preset number threshold; when the distance difference value is larger than or equal to a preset distance threshold value, counting a speed change curve of each vehicle to be avoided; screening the vehicles to be avoided according to the speed change curve; and controlling the current vehicle to avoid according to the screening result and a control strategy corresponding to the target avoidance vehicle.

In an embodiment, the control module 40 is further configured to execute the steps of determining an adjacent driving lane of the current vehicle and calculating a distance difference between the current vehicle and the target avoidance vehicle if the target avoidance vehicle is successfully matched with the screening result; if the matching of the target avoidance vehicle and the screening result fails, detecting again the distance difference value between the current vehicle and the target avoidance vehicle until no vehicle meeting the avoidance condition exists in the sensing area of the current vehicle.

In an embodiment, the control module 40 is further configured to generate a reminder message to remind the driver to change the lane when the distance difference between the current vehicle and the target avoidance vehicle is less than a preset distance threshold.

It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.

It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.

In addition, technical details not described in detail in the present embodiment may refer to the vehicle avoidance method provided in any embodiment of the present invention, and are not described herein.

Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.

The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims

1. A vehicle avoidance method, characterized in that the vehicle avoidance method comprises:

2. The vehicle avoidance method according to claim 1, wherein the determining the running tendency of the target-aware vehicle based on the audio information includes:

extracting high-frequency audio frequency in the audio information;

3. The vehicle avoidance method according to claim 2, wherein the determining the running tendency of the target-perceived vehicle based on the estimated vehicle speed includes:

4. The vehicle avoidance method according to claim 1, wherein the controlling the current vehicle to avoid according to the control strategy corresponding to the vehicle speed difference value includes:

if so, determining the number of the vehicles to be avoided;

5. The vehicle avoidance method of claim 4, wherein after the determining the number of vehicles to be avoided, further comprises:

screening the vehicles to be avoided according to the speed change curve;

6. The vehicle avoidance method according to claim 5, wherein the controlling the current vehicle to avoid according to the screening result and the control policy corresponding to the target avoidance vehicle includes:

7. The vehicle avoidance method according to any one of claims 4 to 6, characterized in that the vehicle avoidance method further comprises:

8. A vehicle avoidance device, characterized in that the vehicle avoidance device includes:

9. A vehicle avoidance apparatus, characterized by comprising: a memory, a processor, and a vehicle avoidance program stored on the memory and operable on the processor, the vehicle avoidance program configured to implement the vehicle avoidance method of any one of claims 1 to 7.

10. A storage medium having stored thereon a vehicle avoidance program which when executed by a processor implements the vehicle avoidance method according to any one of claims 1 to 7.