CN117922557A

CN117922557A - Vehicle avoidance method and device, electronic equipment and storage medium

Info

Publication number: CN117922557A
Application number: CN202311650697.2A
Authority: CN
Inventors: 李为为; 罗思思; 杨玉莹
Original assignee: Hozon New Energy Automobile Co Ltd
Current assignee: Hozon New Energy Automobile Co Ltd
Priority date: 2023-12-04
Filing date: 2023-12-04
Publication date: 2024-04-26

Abstract

The application discloses a vehicle avoiding method, a vehicle avoiding device, electronic equipment and a storage medium, and relates to the technical field of auxiliary driving. The method comprises the following steps: and responding to the auxiliary driving instruction, starting an auxiliary driving function appointed by a user, and determining a lane to be tested according to the vehicle control authority of the auxiliary driving function. Detecting a video image acquired by a vehicle-mounted camera, and if the presence of a specified type of vehicle in a lane to be detected is detected, determining whether collision risk exists between the vehicle and the specified type of vehicle based on the vehicle control authority of the currently-started auxiliary driving function and the first vehicle speed of the current running of the vehicle. And if the collision risk of the vehicle and the vehicle of the appointed type is determined, controlling the vehicle to be far away from the vehicle of the appointed type. The method and the system can calculate whether the collision risk exists between the vehicle and the specified type of vehicle during the auxiliary driving of the vehicle, and control the vehicle to be far away from the specified type of vehicle after determining that the collision risk exists, so that the collision probability between the vehicle and the specified type of vehicle is reduced.

Description

Vehicle avoidance method and device, electronic equipment and storage medium

Technical Field

The application relates to the technical field of auxiliary driving, and particularly discloses a vehicle avoiding method, a device, electronic equipment and a storage medium.

Background

The auxiliary driving system can assist a driver to control the vehicle, and driving comfort of the driver is improved. As vehicles incorporating driving assistance systems increase, more and more users are accustomed to enabling functions such as adaptive cruise (ACC), lane centering (LCC), etc. to assist the vehicle driving during everyday driving.

However, current driving assistance systems are not yet sophisticated enough to ensure that the vehicle does not generate any collision accidents during driving. Collision with a luxury vehicle, which is expensive, can cause huge economic loss, and collision with a special vehicle carrying a work task, such as an ambulance, an emergency vehicle, and the like, can influence the work progress of the special vehicle.

In view of this, it is a problem that needs to be solved at present how to reduce the probability of collision with a specified type of vehicle such as a luxury vehicle, a special vehicle carrying a work task, or the like during the vehicle-assisted driving.

Disclosure of Invention

The embodiment of the application provides a vehicle avoiding method, a device, electronic equipment and a storage medium, which are used for reducing the collision probability with a specified type of vehicle during the auxiliary driving of the vehicle.

In order to achieve the above object, the technical solution of the embodiment of the present application is as follows:

In a first aspect, an embodiment of the present application provides a vehicle avoidance method, where the method includes:

Responding to an auxiliary driving instruction, starting an auxiliary driving function appointed by a user, and determining a lane to be tested according to the vehicle control authority of the auxiliary driving function; wherein the vehicle control authority comprises a vehicle longitudinal control and/or a vehicle transverse control;

Detecting a video image acquired by a vehicle-mounted camera, and if the fact that a specified type of vehicle exists in the lane to be detected is detected, determining whether collision risk exists between the vehicle and the specified type of vehicle based on the vehicle control authority and a first vehicle speed of the current running of the vehicle;

and if the collision risk exists, controlling the vehicle to be far away from the specified type of vehicle.

In some possible embodiments, the determining the lane to be tested according to the vehicle control authority of the auxiliary driving function includes:

if the vehicle control authority is longitudinal control of the vehicle, taking a lane where the vehicle is positioned as a lane to be tested;

And if the vehicle control authority is the vehicle transverse control, taking a lane adjacent to the lane where the vehicle is positioned as a lane to be tested.

In some possible embodiments, the determining whether the collision risk exists between the host vehicle and the specified type of vehicle based on the vehicle control authority and the first vehicle speed of the present running host vehicle includes:

if the vehicle control authority is vehicle longitudinal control, determining a first vehicle with the shortest longitudinal distance from the specified type of vehicle, and acquiring a second vehicle speed of the first vehicle running currently;

If the product of the current headway value adopted by the vehicle and the first vehicle speed is equal to the longitudinal distance between the vehicle and the first vehicle, and the cruising speed of the vehicle is not less than the second vehicle speed, determining that the collision risk exists between the vehicle and the appointed type vehicle;

if the vehicle control authority is vehicle longitudinal control, a longitudinal distance threshold is determined according to the first vehicle speed, and if a second vehicle with the longitudinal distance smaller than the longitudinal distance threshold exists in the specified type of vehicle, the collision risk of the vehicle and the specified type of vehicle is determined.

In some possible embodiments, the controlling the host vehicle to be remote from the specified type of vehicle includes:

If the vehicle control authority is the longitudinal control of the vehicle, the current headway value adopted by the vehicle is adjusted to a preset headway value so as to increase the longitudinal distance between the vehicle and the first vehicle.

In some possible embodiments, the method further comprises:

If the longitudinal distance between the vehicle and the first vehicle is monitored to be greater than a preset distance threshold, the currently adopted headway value of the vehicle is adjusted to an initial headway value set when the auxiliary driving function is started.

If the vehicle control authority is vehicle transverse control, controlling the vehicle to transversely move to a side far away from the lane to be tested by a preset transverse avoidance distance;

In some possible embodiments, before the determining the lateral avoidance distance according to the first vehicle speed, the method further includes:

Determining that the specified type of vehicle is positioned in the same lane to be tested;

the method further comprises the steps of:

If the specified type of vehicle is located in different lanes to be detected, controlling the vehicle to run at a target speed until a preset condition is met, and adjusting the speed of the vehicle to the first speed; wherein, the preset conditions include: and the second vehicle does not exist in the video image, or the running time of the vehicle running at the target vehicle speed is greater than a preset time threshold.

In a second aspect, an embodiment of the present application provides a vehicle avoidance device for assisting driving, the device including:

A lane confirmation unit configured to: responding to an auxiliary driving instruction, starting an auxiliary driving function appointed by a user, and determining a lane to be tested according to the vehicle control authority of the auxiliary driving function; wherein the vehicle control authority comprises a vehicle longitudinal control and/or a vehicle transverse control;

A risk assessment unit configured to: detecting a video image acquired by a vehicle-mounted camera, and if the fact that a specified type of vehicle exists in the lane to be detected is detected, determining whether collision risk exists between the vehicle and the specified type of vehicle based on the vehicle control authority and a first vehicle speed of the current running of the vehicle;

A vehicle avoidance unit configured to: and if the collision risk exists, controlling the vehicle to be far away from the specified type of vehicle.

In some possible embodiments, the determining the lane to be measured according to the vehicle control authority of the driving assistance function is performed, and the lane confirmation unit is configured to:

In some possible embodiments, the determining, based on the vehicle control authority and a first vehicle speed at which the host vehicle is currently traveling, whether there is a risk of collision between the host vehicle and the specified type of vehicle is performed, and the risk assessment unit is configured to:

In some possible embodiments, the control host vehicle is executed away from the specified type of vehicle, and the vehicle avoidance unit is configured to:

In some possible embodiments, the vehicle avoidance unit is further configured to:

In some possible embodiments, the vehicle avoidance unit is further configured to, prior to performing the determining the lateral avoidance distance from the first vehicle speed

The vehicle avoidance unit is further configured to control the vehicle to run at a target vehicle speed if the specified type of vehicle is located in different lanes to be detected, and adjust the vehicle speed of the vehicle to the first vehicle speed until a preset condition is met; wherein, the preset conditions include: and the second vehicle does not exist in the video image, or the running time of the vehicle running at the target vehicle speed is greater than a preset time threshold.

In a third aspect, an embodiment of the present application provides an electronic device, including:

A memory for storing program instructions;

A processor for invoking program instructions stored in the memory and executing the steps comprised by the method according to any of the first aspects in accordance with the obtained program instructions.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of any one of the first aspects.

In a fifth aspect, embodiments of the present application provide a computer program product comprising: computer program code which, when run on a computer, causes the computer to perform the method of any of the first aspects.

In the embodiment of the application, the auxiliary driving function designated by the user is started in response to the auxiliary driving instruction, and the lane to be detected is determined according to the vehicle control authority of the auxiliary driving function. Detecting a video image acquired by a vehicle-mounted camera, and if the presence of a specified type of vehicle in a lane to be detected is detected, determining whether collision risk exists between the vehicle and the specified type of vehicle based on the vehicle control authority of the currently-started auxiliary driving function and the first vehicle speed of the current running of the vehicle. And if the collision risk of the vehicle and the vehicle of the appointed type is determined, controlling the vehicle to be far away from the vehicle of the appointed type. The method and the system can calculate whether the collision risk exists between the vehicle and the specified type of vehicle during the auxiliary driving of the vehicle, and control the vehicle to be far away from the specified type of vehicle after determining that the collision risk exists, so that the collision probability between the vehicle and the specified type of vehicle is reduced.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it will be apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a present haversack warning function according to an embodiment of the present application;

FIG. 2 is an overall flowchart of a vehicle avoidance method provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of a lane to be tested according to an embodiment of the present application;

FIG. 4 is a schematic flow chart of a first vehicle according to a longitudinal distance determination according to an embodiment of the present application;

FIG. 5 is a graph showing the intent of comparing vehicle speed to a longitudinal distance threshold provided by an embodiment of the present application;

FIG. 6 is a schematic illustration of driver prompts for a specified type of vehicle provided by an embodiment of the present application;

fig. 7 is a block diagram of a vehicle avoidance device 700 according to an embodiment of the present application;

fig. 8 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the technical solutions of the present application, but not all embodiments. All other embodiments, based on the embodiments described in the present document, which can be obtained by a person skilled in the art without any creative effort, are within the scope of protection of the technical solutions of the present application.

As mentioned above, the auxiliary driving system can assist the driver to control the vehicle, so as to improve the driving comfort of the driver. The current driving assistance systems are not yet sophisticated enough to ensure that the vehicle does not generate any collision accidents during driving. Collision with a luxury vehicle, which is expensive, may cause huge economic loss, and collision with a special vehicle carrying a work task, such as an ambulance, an emergency vehicle, etc., may affect the work progress of the special vehicle.

In practical application, part of auxiliary driving systems carry the luxury vehicle alarming function. The luxury warning function is used for detecting the luxury in the area near the host vehicle during the auxiliary driving of the vehicle, and carrying out voice reminding on a driver when detecting that the luxury exists near the host vehicle, for example, as shown in fig. 1, so as to prompt the driver to adjust the running state of the vehicle independently and avoid collision with the luxury. However, this method of processing cannot automatically adjust the running state of the vehicle during the assisted driving, and it is difficult to effectively reduce the probability of collision with the specified type of vehicle.

To solve the above problems, the inventive concept of the present application is: and responding to the auxiliary driving instruction, starting an auxiliary driving function appointed by a user, and determining a lane to be tested according to the vehicle control authority of the auxiliary driving function. Detecting a video image acquired by a vehicle-mounted camera, and if the presence of a specified type of vehicle in a lane to be detected is detected, determining whether collision risk exists between the vehicle and the specified type of vehicle based on the vehicle control authority of the currently-started auxiliary driving function and the first vehicle speed of the current running of the vehicle. And if the collision risk of the vehicle and the vehicle of the appointed type is determined, controlling the vehicle to be far away from the vehicle of the appointed type.

Through the flow, the collision risk of collision between the vehicle and the specified type of vehicle can be measured and calculated during the auxiliary driving of the vehicle, and the collision probability of the vehicle and the specified type of vehicle is reduced by controlling the vehicle to be far away from the specified type of vehicle after the collision risk is determined.

Next, as shown in fig. 2, fig. 2 shows an overall flow of a vehicle avoidance method provided by the embodiment of the present application, which specifically includes the following steps:

Step 201: responding to an auxiliary driving instruction, starting an auxiliary driving function appointed by a user, and determining a lane to be tested according to the vehicle control authority of the auxiliary driving function; wherein the vehicle control authority comprises a vehicle longitudinal control and/or a vehicle transverse control;

In practical application, each auxiliary driving function is provided with corresponding vehicle control authority. The vehicle control authority corresponding to the current common driving assistance function can be divided into three types of vehicle transverse control, vehicle longitudinal control and vehicle centering control.

The vehicle lateral control is control of the traveling direction of the vehicle, and is capable of controlling lateral movement of the vehicle, but is not capable of changing the vehicle speed. The vehicle longitudinal control is control of the vehicle running speed, and is capable of controlling the longitudinal movement of the vehicle, but is not capable of changing the vehicle running direction. The vehicle centering control can control the vehicle running speed and the vehicle running direction, namely, the vehicle transverse control and the vehicle longitudinal control are included.

The aforementioned adaptive cruise function is an auxiliary driving function supporting longitudinal control of the vehicle. After the function is started, the vehicle can run at a constant speed at a set cruising speed, and whether the vehicle is in front of the vehicle or not is monitored in real time during running. When the front vehicle is in front, the front vehicle is taken as a following target, and the actual speed is adjusted according to the speed of the front vehicle, so that the vehicle can follow the vehicle to run under the condition of keeping a safe distance with the front vehicle. The aforementioned vehicle centering function is an auxiliary driving function supporting vehicle centering control. After the function is started, the vehicle can automatically identify the center position of the lane, and the vehicle is controlled to drive near the center line of the lane at a set speed at a constant speed.

After a vehicle starts a user-specified auxiliary driving function, the embodiment of the application reads the vehicle control authority of the auxiliary driving function and determines the lane to be tested according to the vehicle control authority.

As shown in fig. 3, if the vehicle control authority of the driving assistance function currently activated by the vehicle is the vehicle longitudinal control, the lane where the vehicle is located is taken as the lane to be tested. And if the vehicle control authority is the vehicle transverse control, taking a lane adjacent to the lane where the vehicle is positioned as a lane to be tested. Correspondingly, if the vehicle control authority is vehicle centering control comprising vehicle longitudinal control and vehicle transverse control, taking a lane where the vehicle is located and a lane adjacent to the lane where the vehicle is located as the lane to be tested.

Step 202: detecting a video image acquired by a vehicle-mounted camera, and if the fact that a specified type of vehicle exists in the lane to be detected is detected, determining whether collision risk exists between the vehicle and the specified type of vehicle based on the vehicle control authority and a first vehicle speed of the current running of the vehicle;

step 203: and if the collision risk exists, controlling the vehicle to be far away from the specified type of vehicle.

In order to facilitate understanding of the technical solution of the present application, when the vehicle control authority of the auxiliary function is the vehicle longitudinal control, the vehicle transverse control and the vehicle centering control, how to judge whether the vehicle has a collision risk with the specified type of vehicle through the foregoing step 202, and how to control the vehicle away from the specified type of vehicle through the foregoing step 203 are explained as follows:

In a first scenario, the vehicle control authority of the auxiliary function currently started by the vehicle is vehicle longitudinal control

When step 202 is executed, the video image collected by the front-mounted vehicle-mounted camera can be detected. As shown in fig. 4, among all the specified types of vehicles in the lane where the host vehicle is located, which are detected from the video image, a first vehicle having the shortest longitudinal distance from the host vehicle is selected, and a second vehicle speed at which the first vehicle is currently traveling is obtained.

If the specified type of vehicle is located in front of the host vehicle, the distance between the head edge of the host vehicle and the tail edge of the specified type of vehicle is used as the longitudinal distance. If the specified type of vehicle is located behind the host vehicle, the distance between the tail edge of the host vehicle and the head edge of the specified type of vehicle is taken as the longitudinal distance.

In practical applications, many of the auxiliary driving functions for controlling the vehicle in the longitudinal direction include an auxiliary driving function having a cruise function, such as constant speed cruise, intelligent cruise, and adaptive cruise. Such functions are all used to control the vehicle to travel with the vehicle at a cruise speed that is selected to be appropriate within the cruise speed range.

Specifically, such a cruise assist driving function sets a cruise speed range (for example, 60Km/h to 150 Km/h). The function is activated by selecting a cruising speed (e.g. 70 Km/h) from the cruising speed range and controlling the vehicle to travel at a constant speed. And detecting whether a vehicle exists in front of the vehicle in real time in the running process of the vehicle, selecting one vehicle from the running vehicles as a following target of the vehicle when the running vehicle exists at a specified distance in front of the vehicle, and resetting the cruising speed according to the speed of the following target. During this time, the driver can adaptively adjust the real-time speed of the vehicle, i.e., there may be a case where the vehicle is not traveling at the cruising speed.

In order to reduce the collision probability of the vehicle and the specified type of vehicle, the vehicle needs to be prevented from taking the specified type of vehicle as a following target as far as possible. In specific implementation, if the cruising speed of the vehicle is not less than the second speed of the first vehicle, and the product of the current headway value adopted by the vehicle and the current first speed of the vehicle is equal to the longitudinal distance between the vehicle and the first vehicle, the vehicle is determined to be the vehicle following target at the moment, the collision risk between the vehicle and the specified type vehicle is determined at the moment, and the vehicle is controlled to be far away from the specified type vehicle through step 203.

The headway value (TIME HEADWAY, TH) is an important index for evaluating driving safety. The time interval value refers to the time difference between the head of the vehicle and the head of the following vehicle target passing through the same location, and is used for reflecting the maximum reaction time of the driver of the vehicle when the following vehicle target is braked.

When the vehicle is controlled to be far away from the specified type of vehicle in step 203, the longitudinal distance between the vehicle and the first vehicle is increased by adjusting the current headway value of the vehicle to the preset headway value. Specifically, the current headway value adopted by the vehicle can be adjusted to the maximum headway value allowed by the current auxiliary driving function.

In some possible embodiments, after the current headway value adopted by the host vehicle is adjusted to the maximum headway value allowed by the current driving assistance function, the longitudinal distance between the host vehicle and the first vehicle may be monitored in real time. If the longitudinal distance between the host vehicle and the first vehicle is greater than a preset distance threshold (for example, 100 meters), the host vehicle and the first vehicle are considered to have a sufficiently long safety distance, and at this time, in order to improve the driving comfort of the driver, the current headway value adopted by the host vehicle can be adjusted to the initial headway value set when the auxiliary driving function is started.

In a second scenario, the vehicle control authority of the auxiliary function currently started by the vehicle is vehicle transverse control

In practical applications, vehicles with driving assistance systems are often provided with at least a front vehicle-mounted camera and a rear vehicle-mounted camera as shown in the left side of fig. 5, and vehicles with higher parts are provided with side-view vehicle-mounted cameras on the basis of the front and rear vehicle-mounted cameras as shown in the right side of fig. 5.

When step 202 is performed, all video images acquired by the vehicle-mounted cameras can be detected. If the fact that the specified type of vehicle exists in the lane to be detected is detected, a longitudinal distance threshold value is determined according to the first vehicle speed of the current running of the vehicle. In specific implementation, a comparison table of the vehicle speed and the longitudinal distance threshold shown in fig. 5 may be set, and the longitudinal distance threshold corresponding to the first vehicle speed may be obtained by querying the comparison table through the first vehicle speed. It should be noted that if the first vehicle speed is not in the table, a conventional interpolation algorithm may be adopted, and the interpolation operation may be performed on the first vehicle speed according to each vehicle speed recorded in the table, so as to obtain a longitudinal distance threshold corresponding to the first vehicle speed.

Next, it is detected whether or not there is a second vehicle whose longitudinal distance from the host vehicle is smaller than the longitudinal distance threshold value, among the specified types of vehicles. If a second vehicle is present, it is determined that the host vehicle is at risk of collision with the specified type of vehicle.

When the control host vehicle is far away from the specified type of vehicle in step 203, it is first detected whether each specified type of vehicle is located in the same lane to be detected.

It has been mentioned above that when the vehicle control authority is the vehicle lateral control, the lane adjacent to the lane where the host vehicle is located is taken as the lane to be detected. Therefore, if each of the specified types of vehicles is located in the same lane to be tested, it is indicated that the specified type of vehicle exists only on one side of the host vehicle. At the moment, the vehicle can be controlled to transversely move to a preset transverse avoidance distance at one side far away from the lane to be detected.

The setting of the lateral avoidance distance can be determined according to the currently-started auxiliary driving function, and if the currently-started auxiliary driving function is the lane centering maintenance function, the vehicle cannot be driven too far from the center line of the lane, and at the moment, the lateral avoidance distance can be set to be 0.2 meter. If the currently activated driving assisting function is not the lane centering function, the lateral avoidance distance can be set to be larger (for example, 0.4 meter) so that the vehicle is far away from the lane to be detected where the specified type of vehicle is located as far as possible, and therefore the collision probability of the vehicle and the specified type of vehicle is reduced.

Correspondingly, if each appointed type of vehicle is positioned on different lanes to be tested, the appointed type of vehicle is indicated to exist on two sides of the vehicle. At this time, the host vehicle can be controlled to run at a target vehicle speed, which can be determined according to the speed limit vehicle speed of the lane where the host vehicle is located, for example, the speed limit vehicle speed of the lane where the host vehicle is located is taken as the target vehicle speed.

The method comprises the steps of detecting video images collected by a vehicle-mounted camera in real time in the process of controlling the vehicle to run at a target vehicle speed, and when preset conditions are met, adjusting the vehicle speed of the vehicle to an original first vehicle speed again. Wherein, the preset condition includes: the second vehicle does not exist in the video image, or the running time of the vehicle running at the target speed is greater than a preset time threshold.

Specifically, if the second vehicle is not present in the video image, it indicates that the vehicle is far enough away from the second vehicle to avoid collision with the second vehicle. At this time, in order to improve the driving comfort of the driver, the vehicle speed may be adjusted back to the original first vehicle speed. If the running time of the vehicle at the target speed is greater than a preset time threshold (for example, 10 minutes), the vehicle is not capable of making the specified type of vehicle deviate from the acquisition range of the vehicle-mounted camera even in the high-speed running state, namely the vehicle still has the possibility of collision with the specified type of vehicle. At this time, in order to avoid the influence of the host vehicle on the driving comfort and driving safety of the driver due to the high-speed driving, the vehicle speed needs to be readjusted back to the original first vehicle speed.

Scene three, wherein the vehicle control authority of the auxiliary function currently started by the vehicle is vehicle centering control

It has been mentioned above that the vehicle centering control is equivalent to having both vehicle longitudinal control and vehicle lateral control. Therefore, the collision risk detection flow for vehicle centering control adopts the detection flow of the first scene and the detection flow of the second scene at the same time.

In executing step 202, the lane source of the specified type of vehicle is first determined.

If the specified type of vehicle is detected only in the lane where the vehicle is located, the process in the first scene is adopted to detect whether the vehicle has collision risk with the specified type of vehicle, and the vehicle is controlled to be far away from the specified type of vehicle after the collision risk is determined.

If the specified type of vehicle is detected only in the lane adjacent to the lane in which the own vehicle is located, the process in the second scene is adopted to detect whether the own vehicle has collision risk with the specified type of vehicle, and the own vehicle is controlled to be far away from the specified type of vehicle after the collision risk is determined.

If the specified type of vehicle is detected in both the lane where the vehicle is located and the lane adjacent to the lane where the vehicle is located, the process in the first scene is adopted to control the vehicle to be far away from the specified type of vehicle located in the lane where the vehicle is located, and the process in the second scene is adopted to control the vehicle to be far away from the specified type of vehicle located in the lane adjacent to the lane where the vehicle is located.

In addition, in order to further reduce the collision probability of the vehicle and the specified type vehicle, when the embodiment of the application controls the vehicle to be far away from the specified type vehicle, the voice prompt shown in the previous figure 2 can be output to the driver, and the position coordinates of the specified type vehicle can be output to the driver for watching in real time as shown in figure 6. The position coordinates are located in a three-dimensional coordinate system constructed with the center point of the rear axle of the vehicle as the origin. In addition, in order to increase the importance of the driver, as shown in fig. 6, the vehicle type (e.g., a luxury vehicle, an ambulance, an emergency vehicle, etc.) of a specific type of vehicle may be synchronously output to the driver for viewing.

Based on the same inventive concept, the embodiment of the present application further provides a driving-assisting vehicle avoidance device 700, specifically as shown in fig. 7, the device includes:

A lane confirmation unit 701 configured to: responding to an auxiliary driving instruction, starting an auxiliary driving function appointed by a user, and determining a lane to be tested according to the vehicle control authority of the auxiliary driving function; wherein the vehicle control authority comprises a vehicle longitudinal control and/or a vehicle transverse control;

a risk assessment unit 702 configured to: detecting a video image acquired by a vehicle-mounted camera, and if the fact that a specified type of vehicle exists in the lane to be detected is detected, determining whether collision risk exists between the vehicle and the specified type of vehicle based on the vehicle control authority and a first vehicle speed of the current running of the vehicle;

A vehicle avoidance unit 703 configured to: and if the collision risk exists, controlling the vehicle to be far away from the specified type of vehicle.

In some possible embodiments, the determining the lane to be tested according to the vehicle control authority of the driving assistance function is performed, and the lane confirmation unit 701 is configured to:

In some possible embodiments, the determining whether there is a collision risk between the host vehicle and the specified type of vehicle based on the vehicle control authority and the first vehicle speed at which the host vehicle is currently traveling is performed, and the risk assessment unit 702 is configured to:

In some possible embodiments, performing the controlling the host vehicle away from the specified type of vehicle, the vehicle avoidance unit 703 is configured to:

In some possible embodiments, the vehicle avoidance unit 703 is further configured to:

in some possible embodiments, the vehicle avoidance unit 703 is further configured to, prior to performing the determining the lateral avoidance distance based on the first vehicle speed

The vehicle avoidance unit 703 is further configured to control the vehicle to travel at a target vehicle speed if the specified type of vehicle is located in a different lane to be detected, until a preset condition is met, and adjust the vehicle speed of the vehicle to the first vehicle speed; wherein, the preset conditions include: and the second vehicle does not exist in the video image, or the running time of the vehicle running at the target vehicle speed is greater than a preset time threshold.

An electronic device 130 according to this embodiment of the application is described below with reference to fig. 8. The electronic device 130 shown in fig. 8 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.

As shown in fig. 8, the electronic device 130 is in the form of a general-purpose electronic device. Components of electronic device 130 may include, but are not limited to: the at least one processor 131, the at least one memory 132, and a bus 133 connecting the various system components, including the memory 132 and the processor 131.

Bus 133 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, and a local bus using any of a variety of bus architectures.

Memory 132 may include readable media in the form of volatile memory such as Random Access Memory (RAM) 1321 and/or cache memory 1322, and may further include Read Only Memory (ROM) 1323.

Memory 132 may also include a program/utility 1325 having a set (at least one) of program modules 1324, such program modules 1324 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

The electronic device 130 may also communicate with one or more external devices 134 (e.g., keyboard, pointing device, etc.), one or more devices that enable a user to interact with the electronic device 130, and/or any device (e.g., router, modem, etc.) that enables the electronic device 130 to communicate with one or more other electronic devices. Such communication may occur through an input/output (I/O) interface 135. Also, electronic device 130 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 136. As shown, network adapter 136 communicates with other modules for electronic device 130 over bus 133. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 130, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

In an exemplary embodiment, a computer readable storage medium is also provided, such as a memory 132, comprising instructions executable by the processor 131 of the apparatus to perform the above-described method. Alternatively, the computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

In an exemplary embodiment, a computer program product is also provided, comprising a computer program/instruction which, when executed by the processor 131, implements any one of the vehicle avoidance methods as provided by the present application.

In an exemplary embodiment, aspects of a vehicle avoidance method provided by the present application may also be implemented in the form of a program product, which includes program code for causing a computer device to carry out the steps of a vehicle avoidance method according to the various exemplary embodiments of the application as described herein above, when the program product is run on the computer device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The program product for vehicle avoidance of embodiments of the present application may employ a portable compact disc read only memory (CD-ROM) and include program code and may be run on an electronic device. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the language or similar programming languages. The program code may execute entirely on the consumer electronic device, partly on the consumer electronic device, as a stand-alone software package, partly on the consumer electronic device, partly on the remote electronic device, or entirely on the remote electronic device or server. In the case of remote electronic devices, the remote electronic device may be connected to the consumer electronic device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external electronic device (e.g., connected through the internet using an internet service provider).

It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, the features and functions of two or more of the elements described above may be embodied in one element in accordance with embodiments of the present application. Conversely, the features and functions of one unit described above may be further divided into a plurality of units to be embodied.

Furthermore, although the operations of the methods of the present application are depicted in the drawings in a particular order, this is not required or suggested that these operations must be performed in this particular order or that all of the illustrated operations must be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable image scaling device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable image scaling device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable image scaling device to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable image scaling apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. A vehicle avoidance method for driving assistance, the method comprising:

2. The method of claim 1, wherein the determining the lane to be tested according to the vehicle control authority of the driving assistance function comprises:

3. The method of claim 1, wherein the determining whether there is a collision risk between the host vehicle and the specified type of vehicle based on the vehicle control authority and a first vehicle speed at which the host vehicle is currently traveling comprises:

4. A method according to claim 3, wherein said controlling the host vehicle away from the vehicle of the specified type comprises:

5. The method according to claim 4, wherein the method further comprises:

6. A method according to claim 3, wherein said controlling the host vehicle away from the vehicle of the specified type comprises:

and if the vehicle control authority is the vehicle transverse control, controlling the vehicle to transversely move to a side far away from the lane to be tested by a preset transverse avoidance distance.

7. The method of claim 6, wherein prior to determining the lateral avoidance distance from the first vehicle speed, the method further comprises:

the method further comprises the steps of:

8. A driving-assisted vehicle avoidance device, the device comprising:

9. An electronic device, comprising:

A memory for storing program instructions;

a processor for invoking program instructions stored in the memory and for performing the steps comprised in the method according to any of claims 1-7 in accordance with the obtained program instructions.

10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of any of claims 1-7.