WO2020082774A1

WO2020082774A1 - Automatic driving method and system for preventing aggressive lane switching

Info

Publication number: WO2020082774A1
Application number: PCT/CN2019/093430
Authority: WO
Inventors: 徐大利
Original assignee: 广州小鹏汽车科技有限公司
Priority date: 2018-10-24
Filing date: 2019-06-28
Publication date: 2020-04-30
Also published as: CN109318895A

Abstract

An automatic driving method and system for preventing aggressive lane switching. The method comprises: when a target vehicle is in an automatic driving mode, acquiring vehicle driving information of the target vehicle; determining whether the target vehicle is in a pre-configured aggressive lane switching scenario according to the vehicle driving information; and if so, controlling the target vehicle to enter a target aggressive lane switching prevention control mode, wherein the target aggressive lane switching control mode controls the target vehicle is to travel close to one side of a target lane in which the target vehicle is located, so as to prevent a vehicle from aggressively switching lanes. When a target vehicle is in an aggressive lane switching scenario, the embodiments of the present invention control the target vehicle to travel close to one side of a target lane in which the target vehicle is located, so as to prevent a vehicle from aggressively switching lanes, thereby reducing the probability that an automatically driven vehicle cannot successfully pass through a congested road segment due to aggressive lane switching, and improving the traffic efficiency of a road.

Description

Automatic driving method and system for preventing malicious jamming The

Technical field

The invention relates to the technical field of automobiles, in particular to an automatic driving method and system for preventing malicious jamming.

Background technique

At present, as the application of autonomous driving becomes more and more popular, people often use autonomous vehicles to drive. Since the self-driving car can adopt an automated driving strategy to realize automatic driving, it makes people's driving more worry-free.

In practice, it has been found that existing automatic driving strategies are based on safety considerations, and often use avoidance driving strategies when they may collide with other cars. However, such an automated driving strategy based on safety considerations will be used by malicious drivers in practical applications. There may be cases where other malicious drivers' vehicles maliciously jam the autonomous driving vehicles, which may cause the autonomous driving vehicles to fail to pass through the traffic congested roads.

It can be seen that how to reduce the probability of malicious congestion causing autonomous vehicles to smoothly pass through traffic jams has become an urgent problem to be solved.

Summary of the invention

Embodiments of the present invention disclose an automatic driving method and system for preventing malicious traffic jams, which can reduce the probability of a situation where an autonomous driving vehicle cannot smoothly pass through a traffic jammed road segment due to malicious traffic jams.

A first aspect of an embodiment of the present invention discloses an automatic driving method for preventing malicious jamming, which includes:

When the target vehicle is in the automatic driving mode, obtain vehicle driving information of the target vehicle;

Determine whether the target vehicle is in a preset malicious jamming scenario according to the vehicle driving information;

If yes, control the target vehicle to enter the target anti-jamming control mode, which is to control the target vehicle to drive closer to the side of the target lane where the target vehicle is located, so as to hinder the malicious jamming behavior of the malicious jamming vehicle Mode.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the vehicle travel information includes at least the speed of the target vehicle, the road conditions where the target vehicle is located, and the target lane where the target vehicle is located , The preset malicious plugging scene includes at least a first preset malicious plugging scene and a second preset malicious plugging scene; the determining whether the target vehicle is in the preset malicious plugging scene according to the vehicle driving information includes:

Judging whether the speed of the target vehicle is lower than the preset speed, and judging whether the road condition of the target vehicle is the preset congested road condition;

When it is determined that the speed of the target vehicle is lower than the preset speed and / or the road condition of the target vehicle is the preset congested road condition, it is determined whether the target lane line corresponding to the target lane is a solid line;

When it is determined that the target lane line is a solid line, it is determined whether the lane type of the left lane on the left side of the target lane is different from the lane type of the target lane, and whether the number of vehicles in the left lane is determined Below the preset number;

When it is determined that the lane type of the left lane is different from the lane type of the target lane and / or the number of vehicles in the left lane is lower than the preset number, it is determined that the target vehicle is in the first preset Malicious stopper scene;

When it is determined that the lane type of the left lane is the same as the lane type of the target lane and the number of vehicles in the left lane is equal to or higher than the preset number, it is judged that the right side of the target lane Whether the lane type of the side lane is different from the lane type of the target lane, and whether the number of vehicles in the right lane is lower than the preset number;

When it is determined that the lane type of the right lane is different from the lane type of the target lane and / or the number of vehicles in the right lane is lower than the preset number, it is determined that the target vehicle is in the second preset Malicious stopper scene.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the target anti-jamming control mode includes at least a first anti-jamming control mode and a second anti-jamming control mode, and the target vehicle is controlled to enter Target anti-jam control mode, including:

When the target vehicle is in the first preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the left lane line of the target lane, the target vehicle is controlled to enter the first Anti-clogging control mode to drive the target vehicle close to the left lane line of the target lane;

When the target vehicle is in the second preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the right lane line of the target lane, the target vehicle is controlled to enter the second Anti-clogging control mode to drive the target vehicle close to the right lane line of the target lane.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the controlling the target vehicle to enter the first anti-jamming control mode so that the target vehicle approaches the location of the target lane line The driving on the left lane line includes:

Controlling the target vehicle to enter the first anti-clogging control mode, so that the distance between the target vehicle and the left lane line of the target lane is within a preset distance range;

The controlling the target vehicle to enter the second anti-clogging control mode to drive the target vehicle to the right lane line of the target lane includes:

Controlling the target vehicle to enter the second anti-clogging control mode so that the distance between the target vehicle and the right lane line of the target lane is within the preset distance range.

As an optional implementation manner, in the first aspect of the embodiments of the present invention, the acquiring vehicle driving information of the target vehicle includes:

The environment recognition system of the target vehicle is used to obtain the speed of the target vehicle, the road conditions of the target vehicle, and the target lane of the target vehicle. The environment recognition system includes at least the positioning device of the target vehicle, Preset map, millimeter wave radar, controller and camera.

A second aspect of the embodiments of the present invention discloses an automatic driving system for preventing malicious jamming, which includes:

An obtaining unit, configured to obtain vehicle driving information of the target vehicle when the target vehicle is in the automatic driving mode;

The judging unit is used to judge whether the target vehicle is in a preset malicious jamming scenario according to the vehicle driving information;

A control unit, configured to control the target vehicle to enter a target anti-jamming control mode when the judgment unit judges that the target vehicle is in the preset malicious jamming scenario, the target anti-jamming control mode is to control the target The vehicle runs on the side of the target lane where the target vehicle is located to hinder the pattern of malicious tampering behavior of the malicious tampering vehicle.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the vehicle travel information includes at least the speed of the target vehicle, the road conditions where the target vehicle is located, and the target lane where the target vehicle is located , The preset malicious plugging scenario includes at least a first preset malicious plugging scenario and a second preset malicious plugging scenario; the determining unit includes:

A first determination subunit, configured to determine whether the speed of the target vehicle is lower than a preset speed, and determine whether the road condition of the target vehicle is a preset congested road condition;

A second judgment sub-unit, when the first judgment sub-unit judges that the speed of the target vehicle is lower than the preset speed and / or the road condition of the target vehicle is the preset congested road condition, Determine whether the target lane line corresponding to the target lane is a solid line;

The third judgment subunit is used to judge the lane type of the left lane on the left side of the target lane and the lane of the target lane when the second judgment subunit judges that the target lane line is a solid line Whether the types are different, and whether the number of vehicles in the left lane is lower than a preset number;

The first determining subunit is used when the third determining subunit determines that the lane type of the left lane is different from the lane type of the target lane and / or the number of vehicles in the left lane is lower than the When the preset number is determined, it is determined that the target vehicle is in the first preset malicious jamming scenario;

The fourth judgment subunit is used when the third judgment subunit judges that the lane type of the left lane is the same as the lane type of the target lane and the number of vehicles in the left lane is equal to or higher than the When the preset number is determined, whether the lane type of the right side lane on the right side of the target lane is different from the lane type of the target lane, and whether the number of vehicles in the right side lane is lower than the preset number;

A second determination subunit, used when the fourth determination subunit determines that the lane type of the right lane is different from the lane type of the target lane and / or the number of vehicles in the right lane is lower than the When the preset number is determined, it is determined that the target vehicle is in the second preset malicious jamming scenario.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the target anti-jam control mode includes at least a first anti-jam control mode and a second anti-jam control mode, and the control unit includes:

The first control subunit is configured to control the target when the target vehicle is in the first preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the left lane line of the target lane The vehicle enters the first anti-jamming control mode to drive the target vehicle closer to the left lane line of the target lane;

A second control subunit, configured to control the target when the target vehicle is in a second preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the right lane line of the target lane The vehicle enters the second anti-jamming control mode to cause the target vehicle to drive close to the right lane line of the target lane.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the first control subunit is used when the target vehicle is in a first preset malicious jamming scenario and the current environment of the target vehicle allows all When the target vehicle is driving near the left lane line of the target lane, the target vehicle is controlled to enter the first anti-clogging control mode, so that the target vehicle is driving near the left lane line of the target lane The specific way is:

The first control subunit is used to control the target vehicle when the target vehicle is in a first preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive close to the left lane line of the target lane The target vehicle enters the first anti-jamming control mode, so that the distance between the target vehicle and the left lane line of the target lane is within a preset distance range;

The second control subunit is used to control the target vehicle when the target vehicle is in a second preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the right lane line of the target lane The manner in which the target vehicle enters the second anti-jam control mode to drive the target vehicle closer to the right lane line of the target lane is specifically:

The second control subunit is configured to control the vehicle when the target vehicle is in a second preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the right lane line of the target lane The target vehicle enters the second anti-jamming control mode, so that the distance between the target vehicle and the right lane line of the target lane is within the preset distance range.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the acquisition unit is configured to acquire the vehicle driving information of the target vehicle when the target vehicle is in the automatic driving mode:

The acquiring unit is configured to acquire the speed of the target vehicle, the road conditions of the target vehicle and the target lane of the target vehicle when the target vehicle is in the automatic driving mode using the environment recognition system of the target vehicle The environment recognition system includes at least the positioning device of the target vehicle, a preset map, a millimeter wave radar, a controller and a camera.

A third aspect of the embodiments of the present invention discloses a computer-readable storage medium that stores a computer program that causes a computer to perform some or all of the steps of any method of the first aspect.

A fourth aspect of the embodiments of the present invention discloses a computer program product that, when the computer program product runs on a computer, causes the computer to perform part or all of the steps of any one of the methods of the first aspect.

A fifth aspect of an embodiment of the present invention discloses an application publishing platform for publishing a computer program product, wherein when the computer program product runs on a computer, the computer is allowed to execute any of the first aspect Part or all steps of a method.

Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

In the embodiment of the present invention, when the target vehicle is in the automatic driving mode, the vehicle driving information of the target vehicle is acquired; whether the target vehicle is in the preset malicious jamming scenario is determined according to the vehicle driving information; if so, the target vehicle is controlled to enter the target anti-jamming control mode The target anti-jamming control mode is a mode that controls the target vehicle to drive closer to the side of the target lane where the target vehicle is located to hinder the malicious jamming behavior of the malicious jammed vehicle. This process can control the target vehicle to drive close to the side of the target lane where the target vehicle is located when the target vehicle is in a preset malicious tampering scenario, thereby hindering the malicious tampering behavior of the malicious tampering vehicle, thereby reducing the malicious tampering and causing the autonomous vehicle to fail to pass smoothly The probability of occurrence of traffic congestion on a road segment, thereby improving the efficiency of road traffic.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present invention, the drawings required in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some embodiments of the present invention. Those of ordinary skill in the art can obtain other drawings based on these drawings without creative work.

1 is a schematic flowchart of an automatic driving method for preventing malicious jamming disclosed in an embodiment of the present invention;

2 is a schematic flowchart of another automatic driving method for preventing malicious jamming disclosed in an embodiment of the present invention;

3 is a schematic flowchart of another automatic driving method for preventing malicious jamming disclosed in an embodiment of the present invention;

4 is a schematic structural diagram of an automatic driving system for preventing malicious jamming disclosed in an embodiment of the present invention;

5 is a schematic structural diagram of another automatic driving system for preventing malicious jamming disclosed in an embodiment of the present invention;

6 is a schematic diagram of an automatic driving application scenario disclosed in an embodiment of the present invention to prevent malicious jamming.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

It should be noted that the terms in the embodiments of the present invention and the drawings "Including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally also includes Other steps or units inherent to these processes, methods, products or equipment.

Embodiments of the present invention disclose an automatic driving method and system for preventing malicious traffic jams, which can reduce the probability of a situation where an autonomous driving vehicle cannot smoothly pass through a traffic jammed road segment due to malicious traffic jams. The details are described below.

Example one

Please refer to FIG. 1, which is a schematic flowchart of an automatic driving method for preventing malicious jamming disclosed in an embodiment of the present invention. As shown in FIG. 1, the automatic driving method for preventing malicious jamming may include the following steps:

101. When the target vehicle is in the automatic driving mode, the malicious driving prevention automatic driving system obtains the vehicle driving information of the target vehicle.

In the embodiment of the present invention, the vehicle driving information includes at least the speed of the target vehicle, the road conditions where the target vehicle is located, and the target lane where the target vehicle is located. Optionally, the vehicle driving information may also include accelerator pedal information, steering angle information, and Brake pedal turn signal information, etc .; where the target vehicle's road conditions can be obtained using the target vehicle's positioning device and a preset map, and the preset map can include the marked preset congested road conditions, thus according to the target vehicle's location Road conditions can determine whether the current target vehicle is on a road prone to congestion; the target lane where the target vehicle is located includes at least the lane type, where the lane type can be a straight lane, a left-turn lane, a right-turn lane, or a turn-around lane, etc. No restrictions.

102. The automatic driving system for preventing malicious jamming judges whether the target vehicle is in a preset malicious jamming scenario based on the vehicle driving information. If yes, step 103 is executed, and if not, the process is ended.

In the embodiment of the present invention, the preset malicious congestion scenario is a driving scenario that is susceptible to malicious congestion. Specifically, the predetermined malicious congestion scenario may be an area that cannot be overtaken on a congested road section or a low-speed road section.

103. The automatic driving system for preventing malicious tampering controls the target vehicle to enter the target anti-tampering control mode. The target anti-tampering control mode is a mode that controls the target vehicle to travel closer to the target lane side of the target vehicle to hinder the malicious tampering behavior of the malicious tampering vehicle .

In the embodiment of the present invention, the target anti-jamming control mode includes a first anti-jamming control mode and a second anti-jamming control mode, which are respectively used for a preset malicious jamming scenario that is maliciously jammed from the left side and a pre-malicious jamming scenario from the right side. Set a malicious tampering scenario; the target lane where the target vehicle is located includes the left lane line and the right lane line. When the target vehicle is in the preset malicious tampering scenario where it is maliciously jammed from the left side, the target vehicle is controlled to drive close to the left lane line. When the target vehicle is in a preset malicious tampering scenario where it is maliciously tampered from the right side, the target vehicle is controlled to drive close to the right lane line, thereby reducing the space that can be tampered, thereby reducing the possibility of malicious tampering.

It can be seen that by implementing the automatic driving method for preventing malicious jamming described in FIG. 1, when the target vehicle is in the automatic driving mode, the vehicle driving information of the target vehicle is obtained; according to the vehicle driving information, it is determined whether the target vehicle is in a preset malicious jamming scenario; if Yes, the target vehicle is controlled to enter the target anti-jamming control mode, which is a mode that controls the target vehicle to travel closer to the target lane side where the target vehicle is located. This process can control the target vehicle to drive close to the side of the target lane where the target vehicle is located when the target vehicle is in a preset malicious tampering scenario, thereby hindering the malicious tampering behavior of the malicious tampering vehicle, thereby reducing the malicious tampering and causing the autonomous vehicle to fail to pass smoothly The probability of occurrence of traffic congestion on a road segment, thereby improving the efficiency of road traffic.

Example 2

Please refer to FIG. 2, which is a schematic flowchart of another automatic driving method for preventing malicious jamming disclosed in an embodiment of the present invention. As shown in FIG. 2, the automatic driving method for preventing malicious jamming may include the following steps:

201. When the target vehicle is in the automatic driving mode, an automatic driving system that prevents malicious jamming acquires the vehicle driving information of the target vehicle.

In the embodiment of the present invention, the vehicle travel information includes at least the speed of the target vehicle, the road conditions where the target vehicle is located, and the target lane where the target vehicle is located.

202. The automatic driving system for preventing malicious jamming determines whether the speed of the target vehicle is lower than the preset speed, and whether the road condition of the target vehicle is the preset congested road condition; when it is determined that the speed of the target vehicle is lower than the preset speed and / or When the road condition of the target vehicle is the preset congested road condition, step 203 is executed. When it is determined that the vehicle speed of the target vehicle is not lower than the preset vehicle speed and the road condition of the target vehicle is not the preset congested road condition, this process is ended.

In the embodiment of the present invention, the preset vehicle speed may be a preset low-speed vehicle speed. For example, the preset vehicle speed may be 30 km / h. In actual applications, the preset vehicle speed may be freely changed, which is not limited in the embodiment of the present invention.

As an optional implementation manner, the automatic driving system for preventing malicious jamming to determine whether the road condition of the target vehicle is a preset congested road condition may include:

The automatic driving system for preventing malicious jamming determines whether the position of the target vehicle's road condition in the preset map matches the preset congested road condition position marked by the preset map;

If yes, the autonomous driving system to prevent malicious jamming determines that the target vehicle's road condition is the preset congestion road condition;

If not, the autonomous driving system to prevent malicious jamming determines that the road condition of the target vehicle is not the preset congestion road condition.

By implementing this optional embodiment, whether the road condition of the target vehicle is a congested road condition can be determined according to the pre-marked pre-marked location of the congested road condition and the position of the target vehicle on the preset map, this process can quickly determine common congestion The road will take follow-up judgments and evasion measures to prevent malicious traffic jams, and improve the driving intelligence.

203. The automatic driving system for preventing malicious jamming determines whether the target lane line corresponding to the target lane is a solid line. If yes, step 204 is executed, and if not, the process is ended.

In the embodiment of the present invention, when the target lane line corresponding to the target lane is a solid line, it indicates that the target lane does not allow other vehicles to jam, and the jamming that occurs at this time has a higher probability of malicious jamming, and step 204 is executed.

204. The automated driving system to prevent malicious jamming judges whether the lane type of the left lane on the left side of the target lane is different from the lane type of the target lane, and judges whether the number of vehicles on the left lane is lower than the preset number; When the lane type of the side lane is different from the lane type of the target lane and / or the number of vehicles in the left lane is lower than the preset number, steps 205 and 208 are executed, when it is determined that the lane type of the left lane and the lane type of the target lane When the number of vehicles in the same lane on the left is equal to or higher than the preset number, step 206 is executed.

As an optional implementation, after the autonomous driving system for preventing malicious jamming determines that the number of vehicles in the left lane is lower than the preset number, the following steps may also be performed:

The automatic driving system for preventing malicious jamming determines whether the number of vehicles in the target lane is higher than the preset number of congestion; if so, step 205 and step 208 are executed; if not, step 206 is executed.

By implementing this optional implementation, when the number of vehicles in the target lane is higher than the preset number of congestion, it means that the target lane is congested and there are fewer vehicles on the left lane, which is in accordance with the scenario where malicious congestion is likely to occur. The number of vehicles to determine the corresponding anti-jamming control mode is more accurate.

In the embodiment of the present invention, when the lane type of the left lane on the left side of the target lane is different from the lane type of the target lane and / or the number of vehicles in the left lane is lower than the preset number, it is more likely that The scene of malicious plugging. For example, when the lane type of the target lane where the target vehicle is located is a straight lane and the lane type of the left lane is a left-turn lane, it is easy to happen that a vehicle on the left lane needs to change lanes due to the wrong lane. Happening. Or, if the road conditions of the target vehicle are the preset congestion road conditions, when the number of left lanes is lower than the preset number, it is likely that a vehicle on the left lane needs to merge into the target lane to drive.

205. The automatic driving system for preventing malicious jamming determines that the target vehicle is in the first preset malicious jamming scenario.

In the embodiment of the present invention, the first preset malicious jamming scenario is used for the preset malicious jamming scenario that is maliciously jammed from the left side.

206. The automated driving system to prevent malicious jamming determines whether the lane type of the right lane on the right side of the target lane is different from the lane type of the target lane, and whether the number of vehicles on the right lane is lower than the preset number; When the lane type of the side lane is different from the lane type of the target lane and / or the number of vehicles in the right lane is lower than the preset number, steps 207 and 209 are executed, when it is determined that the lane type of the right lane and the lane type of the target lane When the number of vehicles in the same lane on the right is not less than the preset number, this process is ended.

As an optional implementation manner, after the automatic driving system for preventing malicious jamming determines that the number of vehicles in the right lane is lower than the preset number, the following steps may also be performed:

The automatic driving system for preventing malicious jamming determines whether the number of vehicles in the target lane is higher than the preset number of congestion; if yes, perform step 207 and step 209; if not, end the process.

By implementing this optional implementation, when the number of vehicles in the target lane is higher than the preset number of congestion, it means that the target lane is congested and there are fewer vehicles on the right lane, which is in accordance with the scenario where malicious traffic jams are likely to occur. The number of vehicles to determine the corresponding anti-jamming control mode is more accurate.

In the embodiment of the present invention, if the lane type of the left lane is different from the lane type of the target lane and / or the number of vehicles on the left lane is lower than the preset number and the lane type of the right lane is different from the lane type of the target lane and / or Or the number of vehicles in the right lane is lower than the preset number, indicating that the target vehicle in the target lane may be both maliciously jammed by the vehicle in the left lane and maliciously jammed by the vehicle in the right lane. Malicious jamming scenarios. In actual applications, such situations can also be set to enter the second preset malicious jamming scenario by default, that is, step 206 is performed first and then step 204 is performed, which is not limited in this embodiment of the present invention.

In the embodiment of the present invention, when the lane type of the right lane on the right side of the target lane is different from the lane type of the target lane and / or the number of vehicles on the right lane is lower than the preset number, it is more likely that The scene of malicious plugging. For example, when the lane type of the target lane where the target vehicle is located is a straight lane and the lane type of the right lane is a right turn lane, it is easy to happen that a vehicle on the right lane needs to change lanes due to the wrong lane. Happening. Or, if the road conditions of the target vehicle are preset congestion road conditions, when the number of right lanes is lower than the preset number, it is easy for a vehicle in the right lane to merge into the target lane to drive.

207. The automatic driving system for preventing malicious jamming determines that the target vehicle is in the second preset malicious jamming scenario.

In the embodiment of the present invention, the second preset malicious jamming scenario is used for the preset malicious jamming scenario that is maliciously jammed from the right side.

208. When the target vehicle is in the first preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the left lane line of the target lane, the autonomous driving system that prevents malicious tampering controls the target vehicle to enter the first anti-tampering control mode, Drive the target vehicle closer to the left lane line of the target lane.

In the embodiment of the present invention, when the target vehicle is in a scenario that is easily jammed by vehicles on the left lane, if the current environment of the target vehicle allows the target vehicle to drive near the left lane line of the target lane, the target vehicle is controlled to enter the first anti-jamming control mode. Among them, if the target vehicle is driving near the left lane line without collision risk, it means that the current environment of the target vehicle allows the target vehicle to drive near the left lane line.

209. When the target vehicle is in the second preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the right lane line of the target lane, the autonomous driving system that prevents malicious tampering controls the target vehicle to enter the second anti-tampering control mode, Drive the target vehicle closer to the right lane of the target lane.

In the embodiment of the present invention, the target anti-jamming control mode includes at least a first anti-jamming control mode and a second anti-jamming control mode. The target anti-jamming control mode is to control the target vehicle to drive on the side of the target lane where the target vehicle is located to prevent malicious A pattern of malicious stoppages by vehicles in Gasser.

In the embodiment of the present invention, when the target vehicle is in a scene that is easily jammed by vehicles on the right lane, if the current environment of the target vehicle allows the target vehicle to drive near the right lane of the target lane, the target vehicle is controlled to enter the second anti-clogging control mode. Among them, if the target vehicle is driving near the right lane line without a risk of collision, it means that the current environment of the target vehicle allows the target vehicle to drive near the right lane line.

It can be seen that by implementing the automatic driving method for preventing malicious jamming described in FIG. 2, when the target vehicle is in the automatic driving mode, the vehicle driving information of the target vehicle is obtained; whether the target vehicle is in the preset malicious jamming scenario is determined according to the vehicle driving information; if Yes, the target vehicle is controlled to enter the target anti-jamming control mode, which is a mode that controls the target vehicle to travel closer to the target lane side where the target vehicle is located. This process can control the target vehicle to drive close to the side of the target lane where the target vehicle is located when the target vehicle is in a preset malicious tampering scenario, thereby hindering the malicious tampering behavior of the malicious tampering vehicle, thereby reducing the malicious tampering and causing the autonomous vehicle to fail to pass smoothly The probability of occurrence of traffic congestion on a road segment, thereby improving the efficiency of road traffic.

In addition, by implementing the automatic driving method for preventing malicious congestion described in FIG. 2, when the speed of the target vehicle is low or the road condition of the target vehicle is the preset congested road condition, it is further determined whether the target lane line is a solid line, and if so, When the type of the left lane is different from the target lane and / or the number of vehicles in the left lane is low, the target vehicle is considered to be at greater risk of malicious jamming by the left vehicle, and the target vehicle is controlled to be close to the left side of the target lane When driving on the lane line, when the lane type of the right lane is different from that of the target lane and / or the number of vehicles on the right lane is low, the target vehicle is considered to be at greater risk of malicious jamming by the right vehicle, and the target vehicle is controlled to approach the target Drive on the right lane line of the lane. This process can be based on the type of lane and the number of vehicles in the lane to determine the position that is at greater risk of malicious traffic jams, so that different driving strategies (near the left lane line or near the right lane line) can be used to drive, improving the prevention of malicious traffic jams. flexibility.

Example Three

Please refer to FIG. 3, which is a schematic flowchart of another automatic driving method for preventing malicious jamming disclosed in an embodiment of the present invention. As shown in FIG. 3, the automatic driving method for preventing malicious jamming may include the following steps:

301. When the target vehicle is in the automatic driving mode, the automatic driving system to prevent malicious jamming uses the target vehicle's environment recognition system to obtain the target vehicle's speed, the target vehicle's road conditions, and the target vehicle's target lane. The environment recognition system includes at least: Target vehicle positioning device, preset map, millimeter wave radar, controller and camera.

As an optional embodiment, the automatic driving system for preventing malicious jamming using the environment recognition system of the target vehicle to obtain the speed of the target vehicle, the road conditions of the target vehicle, and the target lane of the target vehicle may include:

The automatic driving system to prevent malicious jamming uses the target vehicle's millimeter wave radar and controller to obtain the target vehicle's speed information, and uses the target vehicle's positioning device and preset map to obtain the target vehicle's road conditions, and uses the camera to obtain the target vehicle's location Target lane.

By implementing this optional embodiment, it is more accurate to obtain the driving information of the vehicle, and the environmental recognition system is a device that the current vehicle has, so as to obtain the driving information of the vehicle to help prevent malicious jamming can be based on the original hardware facilities Enriched driving functions.

302. The automated driving system to prevent malicious jamming determines whether the speed of the target vehicle is lower than the preset speed, and whether the road condition of the target vehicle is the preset congested road condition; when it is determined that the speed of the target vehicle is lower than the preset speed and / or When the road condition of the target vehicle is the preset congested road condition, step 303 is executed. When it is determined that the vehicle speed of the target vehicle is not lower than the preset vehicle speed and the road condition of the target vehicle is not the preset congested road condition, this process is ended.

303. The automatic driving system for preventing malicious jamming determines whether the target lane line corresponding to the target lane is a solid line. If yes, step 304 is executed, and if not, the process is ended.

304. The automatic driving system to prevent malicious jamming judges whether the lane type of the left lane on the left side of the target lane is different from the lane type of the target lane, and whether the number of vehicles on the left lane is lower than the preset number; If the lane type of the side lane is different from the lane type of the target lane and / or the number of vehicles in the left lane is lower than the preset number, perform steps 305 and 308, when it is determined that the lane type of the left lane and the lane type of the target lane When the number of vehicles in the same lane on the left is equal to or higher than the preset number, step 306 is executed.

305. The automatic driving system for preventing malicious jamming determines that the target vehicle is in the first preset malicious jamming scenario.

306. The automatic driving system to prevent malicious jamming judges whether the lane type of the right lane on the right side of the target lane is different from the lane type of the target lane, and judges whether the number of vehicles on the right lane is lower than the preset number; If the lane type of the side lane is different from the lane type of the target lane and / or the number of vehicles on the right lane is lower than the preset number, perform steps 307 and 309, when it is determined that the lane type of the right lane and the lane type of the target lane When the number of vehicles in the same lane on the right is not less than the preset number, this process is ended.

307. The automatic driving system for preventing malicious jamming determines that the target vehicle is in the second preset malicious jamming scenario.

308. When the target vehicle is in the first preset malicious jamming scenario and the current environment of the target vehicle allows the target vehicle to drive close to the left lane line of the target lane, the autonomous driving system that prevents malicious jamming controls the target vehicle to enter the first anti-jamming control mode, The distance between the target vehicle and the left lane line of the target lane is within a preset distance range.

309. When the target vehicle is in the second preset malicious jamming scenario and the current environment of the target vehicle allows the target vehicle to drive close to the right lane line of the target lane, the autonomous driving system that prevents malicious jamming controls the target vehicle to enter the second anti-jamming control mode, The distance between the target vehicle and the right lane line of the target lane is within a preset distance range.

For example, the distance between the target vehicle and the left lane line of the target lane in the first anti-jam control mode can be around 20 cm, and the distance between the target vehicle and the right lane line of the target lane in the second anti-jam control mode can also be Around 20cm. In practical applications, the preset distance range can be freely changed, and is not limited in the embodiments of the present invention.

It can be seen that by implementing the automatic driving method for preventing malicious tampering described in FIG. 3, the target vehicle can be controlled to drive closer to the side of the target lane where the target vehicle is located when the target vehicle is in a preset malicious tampering scenario, thereby hindering the maliciousness of the malicious tampering vehicle Congestion behavior, thereby reducing the probability of malicious congestion causing autonomous vehicles to fail to pass through traffic congested sections, thereby improving the efficiency of road traffic.

In addition, by implementing the automatic driving method for preventing malicious traffic jams described in FIG. 3, it is possible to comprehensively determine the location that is at greater risk of malicious traffic jams based on the lane type and the number of vehicles in the lane, so that different driving strategies (near the left lane line or Close to the right lane line) to drive, to increase the flexibility to prevent malicious traffic jams.

In addition, by implementing the automatic driving method for preventing malicious congestion described in FIG. 3, the environment recognition system can be used to obtain the speed of the target vehicle, the road conditions of the target vehicle and the target lane of the target vehicle, and to synthesize the above vehicle driving information to determine the target Whether the vehicle is in a preset malicious jamming scene, the judgment is more accurate, so as to better prevent malicious jamming.

Example 4

Please refer to FIG. 4, which is a schematic structural diagram of an automated driving system for preventing malicious jamming disclosed in an embodiment of the present invention. As shown in FIG. 4, the autonomous driving system 400 for preventing malicious jamming may include:

The obtaining unit 401 is configured to obtain vehicle driving information of the target vehicle when the target vehicle is in the automatic driving mode.

As an optional implementation manner, the acquiring unit 401 acquiring vehicle driving information of the target vehicle may include:

The obtaining unit 401 uses the target vehicle's environment recognition system to obtain the target vehicle's speed, the target vehicle's road conditions, and the target vehicle's target lane. The environment recognition system includes at least the target vehicle's positioning device, preset map, millimeter wave radar, and control And camera.

As another optional implementation manner, the obtaining unit 401 using the target vehicle's environment recognition system to obtain the target vehicle's speed, the target vehicle's road conditions, and the target vehicle's target lane may include:

The obtaining unit 401 uses the millimeter wave radar and controller of the target vehicle to obtain the speed information of the target vehicle, and uses the positioning device of the target vehicle and the preset map to obtain the road conditions of the target vehicle, and uses the camera to obtain the target lane of the target vehicle.

The determining unit 402 is configured to determine whether the target vehicle is in a preset malicious jamming scenario according to the vehicle driving information acquired by the acquiring unit 401.

In the embodiment of the present invention, the preset malicious plugging scene includes at least a first preset malicious plugging scene and a second preset malicious plugging scene.

The control unit 403 is used to control the target vehicle to enter the target anti-jamming control mode when the judgment unit 402 judges that the target vehicle is in a preset malicious jamming scenario, the target anti-jamming control mode is to control the target vehicle to approach the target lane side of the target vehicle A mode of driving to hinder the malicious tampering behavior of malicious tampering vehicles.

In the embodiment of the present invention, the target anti-jamming control mode includes at least a first anti-jamming control mode and a second anti-jamming control mode.

It can be seen that by implementing the automatic driving system for preventing malicious jamming described in FIG. 4, when the target vehicle is in a preset malicious jamming scenario, the target vehicle can be controlled to drive closer to the target lane side where the target vehicle is located, thereby hindering the malicious malicious traffic jamming vehicle Congestion behavior, thereby reducing the probability of malicious congestion causing autonomous vehicles to fail to pass through traffic congested sections, thereby improving the efficiency of road traffic.

Example 5

Please refer to FIG. 5, which is a schematic structural diagram of another automatic driving system for preventing malicious jamming disclosed in an embodiment of the present invention. Among them, the automatic driving system 400 for preventing malicious jamming shown in FIG. 5 is optimized by the automatic driving system 400 for preventing malicious jamming shown in FIG. 4, compared with the automatic driving system 400 for preventing malicious jamming shown in FIG. 4 In the automatic driving system 400 for preventing malicious jamming shown in FIG. 5, the judgment unit 402 includes:

The first determining subunit 4021 is used to determine whether the speed of the target vehicle is lower than the preset speed, and determine whether the road condition where the target vehicle is located is the preset congested road condition.

As an optional implementation manner, the first judgment subunit 4021 judging whether the road condition of the target vehicle is a preset congestion road condition may include:

The first determination subunit 4021 determines whether the position of the road condition of the target vehicle in the preset map matches the position of the preset congested road condition marked by the preset map;

If yes, the first judgment subunit 4021 determines that the road condition of the target vehicle is the preset congested road condition;

If not, the first judgment subunit 4021 determines that the road condition of the target vehicle is not the preset congested road condition.

The second determination subunit 4022 is used to determine the target lane line corresponding to the target lane when the first determination subunit 4021 determines that the speed of the target vehicle is lower than the preset speed and / or the road condition of the target vehicle is the preset congested road condition Whether it is a solid line.

The third determination subunit 4023 is used to determine whether the lane type of the left lane on the left side of the target lane is different from the lane type of the target lane when the second judgment subunit 4022 determines that the target lane line is a solid line, and to determine Whether the number of vehicles in the left lane is lower than the preset number.

The first determining subunit 4024 is used to determine the target vehicle when the third determining subunit 4023 determines that the lane type of the left lane is different from the lane type of the target lane and / or the number of vehicles in the left lane is lower than the preset number In the first preset malicious stopper scene.

The fourth determination subunit 4025 is used to determine that the target is located when the third determination subunit 4023 determines that the lane type of the left lane is the same as the lane type of the target lane and the number of vehicles on the left lane is equal to or higher than the preset number Whether the lane type of the right lane on the right side of the lane is different from the lane type of the target lane, and whether the number of vehicles in the right lane is lower than the preset number.

The second determination subunit 4026 is used to determine the target vehicle when the fourth determination subunit 4025 determines that the lane type of the right lane is different from the lane type of the target lane and / or the number of vehicles in the right lane is lower than the preset number In the second preset malicious stopper scene.

As an optional implementation manner, after the third determination subunit 4023 determines that the number of vehicles in the left lane is lower than the preset number, the third determination subunit 4023 may also be used for:

Determine whether the number of vehicles in the target lane is higher than the preset number of congestion; if yes, trigger the first determination subunit 4024 to execute the above determination that the target vehicle is in the first preset malicious congestion scenario, if not, trigger the fourth determination subunit 4025 to execute The above determination is whether the lane type of the right lane on the right side of the target lane is different from the lane type of the target lane, and whether the number of vehicles in the right lane is lower than the preset number.

As another optional implementation manner, after the fourth determination subunit 4025 determines that the number of vehicles in the right lane is lower than the preset number, the fourth determination subunit 4025 may also be used to:

Determine whether the number of vehicles in the target lane is higher than the preset number of congestion; if so, trigger the second determination subunit 4026 to perform the above determination that the target vehicle is in the second preset malicious congestion scenario.

Optionally, the control unit 403 may include:

The first control subunit 4031 is configured to control the target vehicle to enter the first anti-clogging control mode when the target vehicle is in the first preset malicious jamming scenario and the current environment of the target vehicle allows the target vehicle to drive near the left lane line of the target lane, Drive the target vehicle closer to the left lane line of the target lane.

As an optional implementation manner, when the target vehicle is in the first preset malicious jamming scenario and the current environment of the target vehicle allows the target vehicle to drive near the left lane line of the target lane, the first control subunit 4031 controls the target vehicle to enter the first One anti-clogging control mode, the way to make the target vehicle approach the left lane line of the target lane is specifically:

The first control subunit 4031 controls the target vehicle to enter the first anti-jam control mode, so that the distance between the target vehicle and the left lane line of the target lane is within a preset distance range.

The second control subunit 4032 is used to control the target vehicle to enter the second anti-clogging control mode when the target vehicle is in the second preset malicious jamming scenario and the current environment of the target vehicle allows the target vehicle to drive near the right lane of the target lane. Drive the target vehicle closer to the right lane of the target lane.

As an optional implementation manner, the second control subunit 4032 controls the target vehicle to enter the second anti-jam control mode, so that the target vehicle travels near the right lane line of the target lane may include:

The second control subunit 4032 controls the target vehicle to enter the second anti-jam control mode, so that the distance between the target vehicle and the right lane line of the target lane is within a preset distance range.

Please refer to FIG. 6 together. FIG. 6 is a schematic diagram of an automatic driving application scenario for preventing malicious jamming disclosed in the present invention. As shown in Figure 6, A is the target vehicle in the left lane. When it is driving normally, it is located in the middle of the left lane. As shown in the lower left side of Figure 6, vehicle A and C are in the middle lane. Vehicle, in order to prevent vehicle C from maliciously jamming from the right side of vehicle A, vehicle A enters the second anti-jamming control mode and drives to the right of the left lane, such as vehicle A above the left side of FIG. Space can be jammed, thereby reducing the probability of malicious jamming. As shown in Figure 6, B is the target vehicle in the right lane. When it is driving normally, it is located in the middle of the right lane. As shown in the lower right side of Figure 6, vehicle B and C are in the middle lane. Vehicle, in order to prevent vehicle C from maliciously jamming from the left side of vehicle B, vehicle B enters the first anti-jamming control mode, and travels near the left side of the right lane, as shown in vehicle A above the right side of FIG. 6, thereby reducing laterally Space can be jammed, thereby reducing the probability of malicious jamming.

It can be seen that by implementing the automatic driving system for preventing malicious tampering as described in FIG. 5, the target vehicle can be controlled to drive closer to the target lane side where the target vehicle is located when the target vehicle is in a preset malicious tampering scenario, thereby hindering the maliciousness of the malicious tampering vehicle Congestion behavior, thereby reducing the probability of malicious congestion causing autonomous vehicles to fail to pass through traffic congested sections, thereby improving the efficiency of road traffic.

In addition, by implementing the automated driving system for preventing malicious traffic jams described in FIG. 5, it is possible to comprehensively determine the location that is at greater risk of malicious traffic jams based on the lane type and the number of vehicles in the lane, thereby adopting different driving strategies (near the left lane line or Close to the right lane line) to drive, to increase the flexibility to prevent malicious traffic jams.

In addition, by implementing the automatic driving system for preventing malicious congestion described in FIG. 5, the environment recognition system can be used to obtain the speed of the target vehicle, the road conditions of the target vehicle and the target lane of the target vehicle, and to synthesize the above vehicle driving information to determine the target Whether the vehicle is in a preset malicious jamming scene, the judgment is more accurate, so as to better prevent malicious jamming.

An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes the computer to execute any one of the automatic driving methods for preventing malicious jamming in FIGS. 1 to 3.

An embodiment of the present invention also discloses a computer program product, wherein, when the computer program product runs on a computer, the computer is caused to perform part or all of the steps of the method in the above method embodiments.

An embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product, wherein, when the computer program product runs on a computer, the computer is caused to perform part of the method as in the above method embodiments Or all steps.

In various embodiments of the present invention, it should be understood that the size of the sequence numbers of the above processes does not mean that the order of execution is necessarily inevitable, and the execution order of each process should be determined by its function and inherent logic, and should not be implemented by the present invention The implementation process of the examples constitutes no limitation.

In the embodiment provided by the present invention, it should be understood that “B corresponding to A” means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B based on A does not mean determining B based on A alone, and B may also be determined based on A and / or other information.

In addition, the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or software function unit.

If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or a part that contributes to the existing technology or all or part of the technical solution, and the computer software product is stored in a memory , Including several requests to enable a computer device (which may be a personal computer, server, network device, etc., specifically a processor in the computer device) to perform part or all of the steps of the above methods in various embodiments of the present invention.

Persons of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by a program instructing related hardware. The program may be stored in a computer-readable storage medium, and the storage medium includes read-only Memory (Read-Only Memory, ROM), Random Access Memory (RAM), Programmable Read-only Memory, PROM), Erasable Programmable Read Only Memory (Erasable Programmable Read Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), electronically erasable rewritable read-only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), Compact Disc Read-Only Memory, CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other media readable by a computer that can be used to carry or store data.

The above describes an automatic driving method and system for preventing malicious jamming disclosed in the embodiments of the present invention in detail. Specific examples are used in this article to explain the principles and implementation modes of the present invention. Understand the method of the present invention and its core idea; meanwhile, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. It should be understood as a limitation to the present invention.

Claims

An automatic driving method for preventing malicious jamming is characterized by including:

When the target vehicle is in the automatic driving mode, obtain vehicle driving information of the target vehicle;

Determine whether the target vehicle is in a preset malicious jamming scenario according to the vehicle driving information;

If yes, control the target vehicle to enter the target anti-jamming control mode, which is to control the target vehicle to drive closer to the side of the target lane where the target vehicle is located, so as to hinder the malicious jamming behavior of the malicious jamming vehicle Mode. The
The method according to claim 1, wherein the vehicle travel information includes at least a speed of the target vehicle, a road condition of the target vehicle and a target lane of the target vehicle, and the preset malicious The stopper scene includes at least a first preset malicious stopper scene and a second preset malicious stopper scene; determining whether the target vehicle is in the preset malicious stopper scene according to the vehicle driving information includes:

Judging whether the speed of the target vehicle is lower than the preset speed, and judging whether the road condition of the target vehicle is the preset congested road condition;

When it is determined that the speed of the target vehicle is lower than the preset speed and / or the road condition of the target vehicle is the preset congested road condition, it is determined whether the target lane line corresponding to the target lane is a solid line;

When it is determined that the target lane line is a solid line, it is determined whether the lane type of the left lane on the left side of the target lane is different from the lane type of the target lane, and whether the number of vehicles in the left lane is determined Below the preset number;

When it is determined that the lane type of the left lane is different from the lane type of the target lane and / or the number of vehicles in the left lane is lower than the preset number, it is determined that the target vehicle is in the first preset Malicious stopper scene;

When it is determined that the lane type of the left lane is the same as the lane type of the target lane and the number of vehicles in the left lane is equal to or higher than the preset number, it is judged that the right side of the target lane Whether the lane type of the side lane is different from the lane type of the target lane, and whether the number of vehicles in the right lane is lower than the preset number;

When it is determined that the lane type of the right lane is different from the lane type of the target lane and / or the number of vehicles in the right lane is lower than the preset number, it is determined that the target vehicle is in the second preset Malicious stopper scene.
The method according to claim 2, wherein the target anti-jamming control mode includes at least a first anti-jamming control mode and a second anti-jamming control mode, the controlling the target vehicle to enter the target anti-jamming control mode, include:

When the target vehicle is in the first preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the left lane line of the target lane, the target vehicle is controlled to enter the first Anti-clogging control mode to drive the target vehicle close to the left lane line of the target lane;

When the target vehicle is in the second preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the right lane line of the target lane, the target vehicle is controlled to enter the second Anti-clogging control mode to drive the target vehicle close to the right lane line of the target lane.
The method according to claim 3, wherein the control of the target vehicle enters the first anti-jamming control mode so that the target vehicle travels close to the left lane line of the target lane line ,include:

Controlling the target vehicle to enter the first anti-clogging control mode, so that the distance between the target vehicle and the left lane line of the target lane is within a preset distance range;

The controlling the target vehicle to enter the second anti-clogging control mode to drive the target vehicle to the right lane line of the target lane includes:

Controlling the target vehicle to enter the second anti-clogging control mode so that the distance between the target vehicle and the right lane line of the target lane is within the preset distance range.
The method according to any one of claims 2 to 4, wherein the acquiring vehicle driving information of the target vehicle includes:

The environment recognition system of the target vehicle is used to obtain the speed of the target vehicle, the road conditions of the target vehicle, and the target lane of the target vehicle. The environment recognition system includes at least the positioning device of the target vehicle, Preset map, millimeter wave radar, controller and camera.
An automatic driving system for preventing malicious jamming is characterized by including:

An obtaining unit, configured to obtain vehicle driving information of the target vehicle when the target vehicle is in the automatic driving mode;

The judging unit is used to judge whether the target vehicle is in a preset malicious jamming scenario according to the vehicle driving information;

A control unit, configured to control the target vehicle to enter a target anti-jamming control mode when the judgment unit judges that the target vehicle is in the preset malicious jamming scenario, the target anti-jamming control mode is to control the target The vehicle runs on the side of the target lane where the target vehicle is located to hinder the pattern of malicious tampering behavior of the malicious tampering vehicle.
The automatic driving system for preventing malicious jamming according to claim 6, wherein the vehicle driving information includes at least a speed of the target vehicle, a road condition where the target vehicle is located, and a target lane where the target vehicle is located , The preset malicious plugging scenario includes at least a first preset malicious plugging scenario and a second preset malicious plugging scenario; the determining unit includes:

A first determination subunit, configured to determine whether the speed of the target vehicle is lower than a preset speed, and determine whether the road condition of the target vehicle is a preset congested road condition;

A second judgment sub-unit, when the first judgment sub-unit judges that the speed of the target vehicle is lower than the preset speed and / or the road condition of the target vehicle is the preset congested road condition, Determine whether the target lane line corresponding to the target lane is a solid line;

The third judgment subunit is used to judge the lane type of the left lane on the left side of the target lane and the lane of the target lane when the second judgment subunit judges that the target lane line is a solid line Whether the types are different, and whether the number of vehicles in the left lane is lower than a preset number;

The first determining subunit is used when the third determining subunit determines that the lane type of the left lane is different from the lane type of the target lane and / or the number of vehicles in the left lane is lower than the When the preset number is determined, it is determined that the target vehicle is in the first preset malicious jamming scenario;

The fourth judgment subunit is used when the third judgment subunit judges that the lane type of the left lane is the same as the lane type of the target lane and the number of vehicles in the left lane is equal to or higher than the When the preset number is determined, whether the lane type of the right side lane on the right side of the target lane is different from the lane type of the target lane, and whether the number of vehicles in the right side lane is lower than the preset number;

A second determination subunit, used when the fourth determination subunit determines that the lane type of the right lane is different from the lane type of the target lane and / or the number of vehicles in the right lane is lower than the When the preset number is determined, it is determined that the target vehicle is in the second preset malicious jamming scenario.
The automatic driving system for preventing malicious jamming according to claim 7, wherein the target anti-jamming control mode includes at least a first anti-jamming control mode and a second anti-jamming control mode, and the control unit includes:

The first control subunit is configured to control the target when the target vehicle is in the first preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the left lane line of the target lane The vehicle enters the first anti-jamming control mode to drive the target vehicle closer to the left lane line of the target lane;

A second control subunit, configured to control the target when the target vehicle is in a second preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the right lane line of the target lane The vehicle enters the second anti-jamming control mode to cause the target vehicle to drive close to the right lane line of the target lane.
The automatic driving system for preventing malicious jamming according to claim 8, wherein the first control subunit is used when the target vehicle is in a first preset malicious jamming scenario and the current environment of the target vehicle allows When the target vehicle is driving near the left lane line of the target lane, the target vehicle is controlled to enter the first anti-clogging control mode, so that the target vehicle is driving near the left lane line of the target lane The specific way is:

The first control subunit is configured to control the vehicle when the target vehicle is in a first preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the left lane line of the target lane The target vehicle enters the first anti-clogging control mode, so that the distance between the target vehicle and the left lane line of the target lane is within a preset distance range;

The second control subunit is used to control the target vehicle when the target vehicle is in a second preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the right lane line of the target lane The manner in which the target vehicle enters the second anti-jam control mode to drive the target vehicle closer to the right lane line of the target lane is specifically:

The second control subunit is configured to control the vehicle when the target vehicle is in a second preset malicious tampering scenario and the current environment of the target vehicle allows the target vehicle to drive near the right lane line of the target lane The target vehicle enters the second anti-jamming control mode, so that the distance between the target vehicle and the right lane line of the target lane is within the preset distance range.
The automatic driving system for preventing malicious jamming according to any one of claims 7 to 9, wherein the acquiring unit is used to acquire the vehicle driving information of the target vehicle when the target vehicle is in the automatic driving mode Specifically:

The acquiring unit is configured to acquire the speed of the target vehicle, the road conditions of the target vehicle and the target lane of the target vehicle when the target vehicle is in the automatic driving mode using the environment recognition system of the target vehicle The environment recognition system includes at least the positioning device of the target vehicle, a preset map, a millimeter wave radar, a controller and a camera.
A computer-readable storage medium, characterized in that it stores a computer program that causes a computer to execute the automatic driving method for preventing malicious jamming according to any one of claims 1 to 5.