CN117755288A - Vehicle evasion method, device, equipment and storage medium - Google Patents
Vehicle evasion method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention belongs to the technical field of automatic driving, and discloses a vehicle evading method, device, equipment and storage medium. The method comprises the following steps: when a first target vehicle is detected, first motion information of the first target vehicle is acquired; screening related vehicles according to the motion information of the first target vehicle; track prediction is carried out on the related vehicles according to the first motion information and the second motion information of the related vehicles, so that a prediction result is obtained; and controlling the current vehicle to run according to the prediction result. Through the scheme, the pre-judgment of the potential lane change danger is realized, and the driving safety of the vehicle is improved.
Description
Technical Field
The present invention relates to the field of automatic driving technologies, and in particular, to a vehicle avoidance method, apparatus, device, and storage medium.
Background
Current autonomous vehicles lack effective measures for objects that are cut in at short distances and that have abrupt changes in their trajectory. Some vehicles detect targets by adding cameras, laser radars and the like, but it is very difficult to judge that the targets interfere with the driving of the vehicles at the initial stage of emergency, and often the influence is unavoidable after the targets reach the dangerous gesture set by the system.
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 avoidance method, device, equipment and storage medium, and aims to solve the technical problem that the prior art cannot cope with sudden driving conditions.
In order to achieve the above object, the present invention provides a vehicle evasion method including the steps of:
when a first target vehicle is detected, first motion information of the first target vehicle is acquired;
screening related vehicles according to the motion information of the first target vehicle;
track prediction is carried out on the related vehicles according to the first motion information and the second motion information of the related vehicles, so that a prediction result is obtained;
and controlling the current vehicle to run according to the prediction result.
Optionally, the screening the associated vehicles according to the motion information of the first target vehicle includes:
determining a candidate vehicle according to the motion information of the first target vehicle;
acquiring third motion information of a candidate vehicle;
determining the lane change risk of the candidate vehicle according to the third movement information and the first movement information;
and when the lane change risk is about to change lanes, determining the candidate vehicle as an associated vehicle.
Optionally, the determining the lane change risk of the candidate vehicle according to the third motion information and the first motion information includes:
determining first speed information and first lane information of a first target vehicle according to the first motion information;
determining third speed information and third lane information of the candidate vehicle according to the third motion information;
determining collision risk of the first target vehicle and the candidate vehicle by the first speed information, the first lane information, the third speed information and the third lane information;
and when the collision risk is that the collision risk exists, judging that the lane change risk of the candidate vehicle is the lane change.
Optionally, the predicting the track of the associated vehicle according to the first motion information and the second motion information of the associated vehicle to obtain a prediction result includes:
determining first speed information and first lane information of a first target vehicle according to the first motion information;
determining second speed information and second road information of the associated vehicle according to the second motion information;
predicting a target lane of an associated vehicle according to the first lane information and the second lane information;
predicting the speed of the associated vehicle after lane change according to the first speed information and the second speed information;
and determining a prediction result according to the target lane and the vehicle speed after lane change.
Optionally, the predicting the post-lane-change vehicle speed of the associated vehicle according to the first speed information and the second speed information includes:
acquiring current road information;
and predicting the speed of the associated vehicle after lane change according to the current road information, the first speed information and the second speed information.
Optionally, the controlling the current vehicle to run according to the prediction result includes:
acquiring fourth motion information of the current vehicle;
determining the current collision risk of the vehicle according to the fourth motion information and the prediction result;
and when the collision risk of the current vehicle is the collision risk, controlling the current vehicle to avoid according to the prediction result and the fourth motion information.
Optionally, when the current collision risk of the vehicle is that there is a collision risk, controlling the current vehicle to avoid according to the prediction result and the fourth motion information, including:
determining a required braking speed of the current vehicle according to the fourth motion information and the prediction information;
detecting adjacent lane information when the required braking speed is greater than a preset deceleration;
and controlling the current vehicle to avoid according to the adjacent lane information.
In addition, in order to achieve the above object, the present invention also proposes a vehicle avoidance apparatus including:
the processing module is used for acquiring first motion information of the first target vehicle when the first target vehicle is detected;
the processing module is further used for screening related vehicles according to the motion information of the first target vehicle;
the processing module is further used for carrying out track prediction on the associated vehicle according to the first motion information and the second motion information of the associated vehicle to obtain a prediction result;
and the control module is used for controlling the current vehicle to run according to the prediction result.
In addition, to achieve the above object, the present invention also proposes a vehicle avoidance apparatus including: a memory, a processor, and a vehicle avoidance program stored on the memory and executable on the processor, the vehicle avoidance program configured to implement the steps of the vehicle avoidance method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a vehicle avoidance program which, when executed by a processor, implements the steps of the vehicle avoidance method as described above.
When a first target vehicle is detected, first motion information of the first target vehicle is acquired; screening related vehicles according to the motion information of the first target vehicle; track prediction is carried out on the related vehicles according to the first motion information and the second motion information of the related vehicles, so that a prediction result is obtained; and controlling the current vehicle to run according to the prediction result. Through the scheme, the pre-judgment of the potential lane change danger is realized, and the driving safety of the vehicle is improved.
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FIG. 1 is a schematic diagram of a vehicle avoidance apparatus of a hardware running environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a vehicle avoidance method of the present invention;
FIG. 3 is a schematic diagram of a vehicle according to an embodiment of the method for avoiding a vehicle of the present invention;
FIG. 4 is a schematic diagram of a vehicle according to an embodiment of the method for avoiding a vehicle of the present invention;
FIG. 5 is a flow chart of a second embodiment of a vehicle avoidance method of the present invention;
fig. 6 is a block diagram showing the construction of a first embodiment of the vehicle evasion apparatus 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 of a hardware running 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) Memory 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 structure shown in fig. 1 does not constitute a limitation of the vehicle evasion apparatus, and may include more or fewer components than shown, or may combine certain components, 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 apparatus 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 apparatus of the present invention may be provided in the vehicle avoidance apparatus, and the vehicle avoidance apparatus invokes the 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 avoidance method, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the vehicle avoidance method of the invention.
In this embodiment, the vehicle avoidance method includes the steps of:
step S10: when the first target vehicle is detected, first motion information of the first target vehicle is acquired.
The execution body of the present embodiment is a vehicle control system, which may be a vehicle motion control unit, or may be a combination of other units having the same or similar functions as the motion control unit, which is not limited in this embodiment.
It should be noted that, in the process of applying the present embodiment to the vehicle running avoidance control, the autonomous vehicle lacks effective measures for the object that is cut in at a short distance and the object whose movement locus suddenly changes. Some vehicles detect targets by adding cameras, laser radars and the like, but it is very difficult to judge that the targets interfere with the driving of the vehicles at the initial stage of emergency, and often the influence is unavoidable after the targets reach the dangerous gesture set by the system. Therefore, there is a great potential safety hazard in performing avoidance operation according to actual vehicle actions, and based on the above, the present embodiment proposes a method for performing driving style evaluation on a target according to a speed and position comparison relationship between the target and the target, predicting a next track of the target, and determining a track influence on a target around a host vehicle according to a motion track of the target, thereby influencing the driving of the host vehicle. And performing operations such as acceleration, steering, deceleration and the like in advance according to the predicted track of the target and the position relation of the vehicle, so as to avoid the damage to the vehicle or bad experience to a driver caused by temporary lane change, acceleration, deceleration and the like.
It can be understood that the first target vehicle is a vehicle with the first target vehicle, a plurality of vehicles may be detected in the running process, the detected vehicles are traversed, the traversed vehicles are taken as the first target vehicle, the vehicles are analyzed one by one, and the analysis object is the first target vehicle.
The first motion information of the first target vehicle is information such as speed, acceleration, steering, signal lamp, lane where the first target vehicle is located, and is used for experiencing motion state and position information of the first target vehicle.
Step S20: and screening the related vehicles according to the motion information of the first target vehicle.
It should be noted that, the associated vehicles refer to vehicles whose movement states are mutually affected, as shown in fig. 3, assuming that the vehicle of the target 1 approaches the vehicle of the target 2 at a faster running speed, the vehicle of the target 1 may generate a lane change for overtaking, assuming that the target 2 is the first target vehicle, and then the running of the target 1 is affected by the first target vehicle, so that the associated vehicle of the target 1 as the first target vehicle can be determined.
In some embodiments, a candidate vehicle is determined from the motion information of the first target vehicle; acquiring third motion information of a candidate vehicle; determining the lane change risk of the candidate vehicle according to the third movement information and the first movement information; and when the lane change risk is about to change lanes, determining the candidate vehicle as an associated vehicle.
It should be noted that, the candidate vehicle is determined according to the motion information of the first target vehicle, and the candidate vehicle may be all vehicles in the same lane, or may be all vehicles with a distance smaller than a certain threshold value, and the calculation cost of the vehicle may be reduced by taking the possibly existing associated vehicle as the candidate vehicle. The third motion information is motion information of the candidate vehicle. Determining a lane change risk of the candidate vehicle according to the third motion information and the first motion information, wherein the evaluation process of the lane change risk can be as follows: first, the speed difference of two vehicles is evaluated, and if one vehicle is approaching the other rapidly, the risk of lane change may increase. Secondly, looking at the lateral distance between two vehicles, if one vehicle is attempting to traverse from an adjacent lane to another lane, the lateral positional relationship will affect the lane change risk. Alternatively, observing whether the vehicle has turned on the turn signal may indicate that the driver is intentionally making a lane change. Note that the direction of the head of the vehicle, sometimes the target lane change direction of the driver can be judged by the deviation of the head. Finally, if the following distance of the rear vehicle is too short, the risk of collision at the time of lane change may be increased. In summary, in the above-mentioned evaluation of higher lane change risk, that is, when the lane change risk is about to change lanes, the candidate vehicle is determined as the associated vehicle.
In some embodiments, first speed information and first lane information of a first target vehicle are determined according to the first motion information; determining third speed information and third lane information of the candidate vehicle according to the third motion information; determining collision risk of the first target vehicle and the candidate vehicle by the first speed information, the first lane information, the third speed information and the third lane information; and when the collision risk is that the collision risk exists, judging that the lane change risk of the candidate vehicle is the lane change.
Step S30: and carrying out track prediction on the related vehicle according to the first motion information and the second motion information of the related vehicle to obtain a prediction result.
It should be noted that, the track prediction of the associated vehicle according to the first motion information and the second motion information of the associated vehicle may describe the motion characteristics of the vehicle using an appropriate motion model. Common motion models include constant velocity models, acceleration models, and the like.
The present embodiment proposes a preferable mode of performing trajectory prediction, for example: as shown in fig. 3 and 4, the target trajectory change possibility is judged; according to the position relation between the target and the own vehicle, the target vehicles are divided into rear targets and front targets. 1.1 if the target 1 is a front target, judging the front target 2 of the lane where the target 1 is located, comparing the speed of the target 2 with the speed of the parallel vehicles of the target 2, and if the speed v2 of the target 2 is lower than the speed v3 of the parallel vehicles, the more the speed difference is within a certain range, the greater the lane change possibility p1 of the target 1 is. And judging the distance s1 between the vehicles in front of and behind the adjacent lanes of the target 1, wherein the larger the ratio of the distance to the speed v1 of the target 1 in a certain energy range is, the larger the lane change possibility performance is. p1=k1 (v 3-v 2) +k2×s1/v1 (k 1 and k2 are coefficients) the velocity difference is calculated as the maximum difference after exceeding the range. When the distance s1 is lower than a certain value, the possibility of lane change is avoided; when the value is larger than a certain value, the calculation is performed according to the maximum value in the range. Meanwhile, the transverse position relation between the target 1 and the target 2 is considered, in a certain range, the larger the transverse position difference s2 between the target 1 and the target 2 is, the larger the transverse position change vy1 of the target 1 is, and the higher the lane change possibility is. p1=p1+k3×s2×vy1 (k 3 is a coefficient) when the line-pressing distance s3 of the target 1 is set according to p1, s3=k4×p1 (k 4 is a coefficient), and when the lateral distance between the target 1 and the lane line is smaller than s3, it is determined that the target 1 is about to change the lane. The direction in which the distance value is satisfied is the lane change direction. 1.2 if the target 1 is a rear target, acceleration is determined according to its velocity v1a1, and the distance s4, the speed v4 and the acceleration a4 of the front target in the lane, calculating the possible time t1 of changing the lane of the target 1 according to the formula s4-s 5= (v 1-v 4) ×t1+1/2 (a 1-a 4) ×t12, and calculating t1, wherein s5 is the distance from the target 2 when changing the lane according to the speed of the target 1. And comparing the front-rear position relationship of the target 1 and the own vehicle at the time t 1. At the present moment, the vehicle speed v5, the acceleration a5 and the longitudinal distance s6 between the target 1 and the vehicle. Then v1×t1+1/2×a1t12 and s6+v5×t1+1/2×a5t1 are compared 2 If the former is large, the next step is performed, and if the latter is large, it is judged that the target 1 is not at risk and no subsequent calculation is performed.
Further, judging whether the track change of the target 1 affects other targets, if the target 1 is a front target, setting the time tc for completing the lane change as an evaluation time tp1; if the target 1 is a rear target, tc+t1 is set as the evaluation time tp1. Setting a threshold tf as a capacity limit value of system prediction, and when tp1 is more than tf, the system does not act; when tp1 is less than or equal to tf, all targets except the target 1 calculate the speed and the position after tp1 time according to the current speed, the acceleration, the position and the like, and the acceleration is kept unchanged. 2.1, determining the speed and the like of the lane after the lane change of the target 1 according to the front target 3 of the lane where the lane after the lane change of the target 1 is positioned; 2.1.1 if the lane where the target 1 is located after lane change is located, a certain distance l1 in front of the lane is free of the target, and no turn road junction is located in the rightmost lane or the distance l2 in front of the lane, judging that the target 1 cannot be decelerated, and setting the current speed v1 of the target 1 as the speed vc1 after lane change; 2.1.2 if there is a front target 3 in the lane where the target 1 is located after lane change, its speed vc2, and the distance sc1 from the target 3 after lane change, it is determined whether the target 1 will decelerate according to the threshold tc 1: if tc1 is less than or equal to sc 1/(v 1-vc 1), judging that the target 1 does not decelerate after lane change, and setting v1 as vc1; if tc1 is larger than sc 1/(v 1-vc 1), judging that the target 1 is decelerated after lane change, and setting vc2 as vc1;2.2 based on the distance sc2, speed vc3, and threshold tc2 of the rear target 4 of the lane where the target 1 is located after lane change, it is confirmed whether the travel of the rear target is affected or not: if tc2 is less than or equal to sc 2/(vc 3-vc 1), judging that the target 4 is not affected by the target 1; if tc2 > sc 2/(vc 3-vc 1), it is determined that the target 4 is affected by the target 1, and deceleration or lane change is performed.
Finally, the possibility of lane change is calculated and determined through the process, the lane change direction of the vehicle is determined according to the road information, and whether the track is changed or not can be predicted by combining the running speed acceleration.
In some embodiments, first speed information and first lane information of a first target vehicle are determined according to the first motion information; determining second speed information and second road information of the associated vehicle according to the second motion information; predicting a target lane of an associated vehicle according to the first lane information and the second lane information; predicting the speed of the associated vehicle after lane change according to the first speed information and the second speed information; and determining a prediction result according to the target lane and the vehicle speed after lane change.
It is understood that the speed information is the speed and acceleration of the vehicle in the lane direction, and the lane information is the lane in which the vehicle is located. The embodiment provides a quick prediction method, namely, when two vehicles are on the same lane and the speed difference is large, the rear vehicle has a lane change risk, and the lane change direction changes toward the lane change space. The vehicle speed after lane change is generally greater than the vehicle speed before lane change.
In some embodiments, current road information is obtained; and predicting the speed of the associated vehicle after lane change according to the current road information, the first speed information and the second speed information.
It should be noted that if the vehicle speed after lane change is to be accurately predicted, the current road information needs to be considered, because, assuming that there is a turnout or a road entrance in front, the front vehicle is in a condition of only lane change and no overtaking, and therefore, the vehicle speed after lane change may be always parallel to the vehicle speed of the target 2 vehicle in fig. 3, resulting in two vehicles, therefore, the vehicle speed after lane change of the related vehicle needs to be reasonably predicted according to the current road information, and when there is a turnout or a road exit in front in the current road information, the predicted vehicle speed after lane change is kept as a result of the preset vehicle speed.
Step S40: and controlling the current vehicle to run according to the prediction result.
It should be noted that, after detecting that the prediction result has the possibility that the associated vehicle invades the current lane, the current vehicle can be controlled to decelerate and give way in advance so as to avoid the lane invasion risk of the associated vehicle in advance, thereby avoiding the occurrence of potential safety hazard.
When a first target vehicle is detected, first motion information of the first target vehicle is acquired; screening related vehicles according to the motion information of the first target vehicle; track prediction is carried out on the related vehicles according to the first motion information and the second motion information of the related vehicles, so that a prediction result is obtained; and controlling the current vehicle to run according to the prediction result. Through the scheme, the pre-judgment of the potential lane change danger is realized, and the driving safety of the vehicle is improved.
Referring to fig. 5, fig. 5 is a flowchart illustrating a second embodiment of a vehicle avoidance method according to the present invention.
Based on the above first embodiment, the vehicle avoidance method according to the present embodiment further includes, at the step S40:
step S41: fourth motion information of the current vehicle is acquired.
It can be understood that the fourth motion information of the current vehicle is the motion information of the vehicle where the execution subject is located.
Step S42: and determining the current collision risk of the vehicle according to the fourth motion information and the prediction result.
It should be noted that, as shown in fig. 4, the fourth motion information of the current vehicle and the running prediction result of the associated vehicle detect whether there is a collision risk, and the specific calculation process may be, for example: if the target 4 is the own vehicle and the target is affected according to the step 2.2, the required acceleration ac is: ac= (vc 32-vc1 2 ) (sc 2-sc 3)/2 (ac should be negative) 3.2 if target 4 is not a host vehicle, then if target 4 is behind the host vehicle at time tp1, the system does not process; if the target 4 is in front of the car but in the lane of separation, no treatment is performed. 3.2.1 if target 4 is in front of the lane where the host vehicle is located, target 4 is thenThe speed is set as vc1, the distance sc4 between the vehicle and the target 4 is set, and the required acceleration ac can be calculated according to the step 3.1; 3.2.2 if the target 4 is in front of the own adjacent lane, it is determined that the target 4 will change lane to the front of the own vehicle when the following condition is satisfied: the state of the target 4 and the target 1 at the time tp1, and the acceleration calculated according to the step 3.1 exceeds a threshold value as1; at tp1, a lane change space exists in front of the bicycle; if the above 2 conditions are met, the acceleration ac required for the bicycle is calculated according to step 3.2.1. After calculating the acceleration required by the own vehicle, the collision risk of the current vehicle and the associated vehicle is indicated.
Step S43: and when the collision risk of the current vehicle is the collision risk, controlling the current vehicle to avoid according to the prediction result and the fourth motion information.
When the collision risk of the current vehicle is the collision risk, controlling the current vehicle to avoid according to the prediction result and the fourth motion information. A specific evasion procedure may be generally a deceleration let, for example: as shown in fig. 4, the running state 4.1 of the vehicle is adjusted according to the state change quantity, the acceleration change quantity am=iac-a5i during the deceleration of the vehicle according to the steps is calculated, compared with the set threshold value as2, if the acceleration change quantity am=iac-a5i is smaller than the set threshold value as2, no processing is performed, and the deceleration is normally executed at the time tp1; 4.2 if am. Gtoreq.as 2, the deceleration is calculated according to the current time, am1 = (v 52-vc 1) 2 )/(sc2–sc3+v5*tp1+1/2*a5*tp1 2 ) Calculating an acceleration change am2 = i am1-a5 i by/2 (am 1 is a negative value), comparing with as2, and immediately decelerating according to the deceleration of am1 if the acceleration change am2 is smaller than as 2; 4.3 if am 2. Gtoreq.as 2, then the calculation accelerates beyond: if the target 4 is a vehicle, the required acceleration change am3 = i 2 (s 4-s5-s6-v5 t 1)/t 12-a5 i; if the target 4 is a target in front of the vehicle, am3 is set to a larger value, such as 10m/s, which is not possible to implement 2 The method comprises the steps of carrying out a first treatment on the surface of the If the target 4 is a car front adjacent lane target, am3 = 2 sc4/tp1 2 The method comprises the steps of carrying out a first treatment on the surface of the 4.4 comparing am2, am3 with a threshold value as3;4.4.1 if the smaller value of am2 and am3 is greater than as3, then lane change is considered. The requirements are as follows: the adjacent lane is provided with a lane changing space; the adjacent lane is not the lane in which the target 4 is located. If the condition is not satisfied, adding according to the smaller valueDeceleration execution operation; 4.4.2 if the smaller value of am2 and am3 is smaller than as3, the operation is performed at the acceleration/deceleration corresponding to the smaller value.
In some embodiments, determining a demanded braking speed of the current vehicle from the fourth motion information and the predictive information; detecting adjacent lane information when the required braking speed is greater than a preset deceleration; and controlling the current vehicle to avoid according to the adjacent lane information.
It will be appreciated that in addition to slowing down the slow down, lane change avoidance may be selected to be more direct, so that when the required braking speed is greater lane change avoidance may be selected, for example: in 4.4.1, if the smaller value of am2 and am3 is larger than as3, the lane change is considered, and the lane change is completed when the adjacent lane has a lane change space.
The embodiment obtains fourth motion information of the current vehicle; determining the current collision risk of the vehicle according to the fourth motion information and the prediction result; and when the collision risk of the current vehicle is the collision risk, controlling the current vehicle to avoid according to the prediction result and the fourth motion information. Through the scheme, the effective avoidance strategy is realized when collision risks exist, and the safety of the vehicle is improved.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium stores a vehicle avoidance program, and the vehicle avoidance program realizes the steps of the vehicle avoidance method when being executed by a processor.
Referring to fig. 6, fig. 6 is a block diagram showing the construction of a first embodiment of a vehicle evasion apparatus of the present invention.
As shown in fig. 6, a vehicle avoidance apparatus according to an embodiment of the present invention includes:
a processing module 10, configured to acquire first motion information of a first target vehicle when the first target vehicle is detected;
the processing module 10 is further configured to screen an associated vehicle according to the motion information of the first target vehicle;
the processing module 10 is further configured to predict a track of the associated vehicle according to the first motion information and the second motion information of the associated vehicle, so as to obtain a prediction result;
and the control module 20 is used for controlling the current vehicle to run according to the prediction result.
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.
The processing module 10 of the present embodiment acquires first motion information of a first target vehicle when the first target vehicle is detected; the processing module 10 screens the associated vehicles according to the motion information of the first target vehicle; the processing module 10 predicts the track of the associated vehicle according to the first motion information and the second motion information of the associated vehicle to obtain a prediction result; the control module 20 controls the current vehicle to travel according to the prediction result. Through the scheme, the pre-judgment of the potential lane change danger is realized, and the driving safety of the vehicle is improved.
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 that are 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.
In some embodiments, the processing module 10 is further configured to determine a candidate vehicle according to the motion information of the first target vehicle;
acquiring third motion information of a candidate vehicle;
determining the lane change risk of the candidate vehicle according to the third movement information and the first movement information;
and when the lane change risk is about to change lanes, determining the candidate vehicle as an associated vehicle.
In some embodiments, the processing module 10 is further configured to determine first speed information and first lane information of the first target vehicle according to the first motion information;
determining third speed information and third lane information of the candidate vehicle according to the third motion information;
determining collision risk of the first target vehicle and the candidate vehicle by the first speed information, the first lane information, the third speed information and the third lane information;
and when the collision risk is that the collision risk exists, judging that the lane change risk of the candidate vehicle is the lane change.
In some embodiments, the processing module 10 is further configured to determine first speed information and first lane information of the first target vehicle according to the first motion information;
determining second speed information and second road information of the associated vehicle according to the second motion information;
predicting a target lane of an associated vehicle according to the first lane information and the second lane information;
predicting the speed of the associated vehicle after lane change according to the first speed information and the second speed information;
and determining a prediction result according to the target lane and the vehicle speed after lane change.
In some embodiments, the processing module 10 is further configured to obtain current road information;
and predicting the speed of the associated vehicle after lane change according to the current road information, the first speed information and the second speed information.
In some embodiments, the control module 20 is further configured to obtain fourth motion information of the current vehicle;
determining the current collision risk of the vehicle according to the fourth motion information and the prediction result;
and when the collision risk of the current vehicle is the collision risk, controlling the current vehicle to avoid according to the prediction result and the fourth motion information.
In some embodiments, the control module 20 is further configured to determine a required braking speed of the current vehicle based on the fourth motion information and the prediction information;
detecting adjacent lane information when the required braking speed is greater than a preset deceleration;
and controlling the current vehicle to avoid according to the adjacent lane information.
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 (10)
1. A vehicle avoidance method, characterized in that the vehicle avoidance method comprises:
when a first target vehicle is detected, first motion information of the first target vehicle is acquired;
screening related vehicles according to the motion information of the first target vehicle;
track prediction is carried out on the related vehicles according to the first motion information and the second motion information of the related vehicles, so that a prediction result is obtained;
and controlling the current vehicle to run according to the prediction result.
2. The method of claim 1, wherein the screening associated vehicles based on the motion information of the first target vehicle comprises:
determining a candidate vehicle according to the motion information of the first target vehicle;
acquiring third motion information of a candidate vehicle;
determining the lane change risk of the candidate vehicle according to the third movement information and the first movement information;
and when the lane change risk is about to change lanes, determining the candidate vehicle as an associated vehicle.
3. The method of claim 2, wherein the determining the lane-change risk of the candidate vehicle based on the third motion information and the first motion information comprises:
determining first speed information and first lane information of a first target vehicle according to the first motion information;
determining third speed information and third lane information of the candidate vehicle according to the third motion information;
determining collision risk of the first target vehicle and the candidate vehicle by the first speed information, the first lane information, the third speed information and the third lane information;
and when the collision risk is that the collision risk exists, judging that the lane change risk of the candidate vehicle is the lane change.
4. The method of claim 1, wherein predicting the trajectory of the associated vehicle based on the first motion information and the second motion information of the associated vehicle, comprises:
determining first speed information and first lane information of a first target vehicle according to the first motion information;
determining second speed information and second road information of the associated vehicle according to the second motion information;
predicting a target lane of an associated vehicle according to the first lane information and the second lane information;
predicting the speed of the associated vehicle after lane change according to the first speed information and the second speed information;
and determining a prediction result according to the target lane and the vehicle speed after lane change.
5. The method of claim 4, wherein predicting the post-lane-change vehicle speed of the associated vehicle based on the first speed information and the second speed information comprises:
acquiring current road information;
and predicting the speed of the associated vehicle after lane change according to the current road information, the first speed information and the second speed information.
6. The method of claim 1, wherein controlling the current vehicle travel based on the prediction comprises:
acquiring fourth motion information of the current vehicle;
determining the current collision risk of the vehicle according to the fourth motion information and the prediction result;
and when the collision risk of the current vehicle is the collision risk, controlling the current vehicle to avoid according to the prediction result and the fourth motion information.
7. The method of claim 6, wherein controlling the current vehicle avoidance based on the prediction result and fourth motion information when the current vehicle collision risk is that there is a collision risk, comprises:
determining a required braking speed of the current vehicle according to the fourth motion information and the prediction information;
detecting adjacent lane information when the required braking speed is greater than a preset deceleration;
and controlling the current vehicle to avoid according to the adjacent lane information.
8. A vehicle avoidance apparatus, characterized by comprising:
the processing module is used for acquiring first motion information of the first target vehicle when the first target vehicle is detected;
the processing module is further used for screening related vehicles according to the motion information of the first target vehicle;
the processing module is further used for carrying out track prediction on the associated vehicle according to the first motion information and the second motion information of the associated vehicle to obtain a prediction result;
and the control module is used for controlling the current vehicle to run according to the prediction result.
9. A vehicle evasion apparatus, characterized in that the apparatus comprises: a memory, a processor, and a vehicle avoidance program stored on the memory and executable on the processor, the vehicle avoidance program configured to implement the steps of the vehicle avoidance method as claimed in 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 steps of the vehicle avoidance method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311865665.4A CN117755288A (en) | 2023-12-28 | 2023-12-28 | Vehicle evasion method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311865665.4A CN117755288A (en) | 2023-12-28 | 2023-12-28 | Vehicle evasion method, device, equipment and storage medium |
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| Publication Number | Publication Date |
|---|---|
| CN117755288A true CN117755288A (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311865665.4A Pending CN117755288A (en) | 2023-12-28 | 2023-12-28 | Vehicle evasion method, device, equipment and storage medium |
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| Country | Link |
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| CN (1) | CN117755288A (en) |
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2023
- 2023-12-28 CN CN202311865665.4A patent/CN117755288A/en active Pending
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