WO2023066146A1 - 车辆避让控制方法、装置、电子设备及存储介质 - Google Patents

车辆避让控制方法、装置、电子设备及存储介质 Download PDF

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Publication number
WO2023066146A1
WO2023066146A1 PCT/CN2022/125296 CN2022125296W WO2023066146A1 WO 2023066146 A1 WO2023066146 A1 WO 2023066146A1 CN 2022125296 W CN2022125296 W CN 2022125296W WO 2023066146 A1 WO2023066146 A1 WO 2023066146A1
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WIPO (PCT)
Prior art keywords
vehicle
lane
current lane
avoidance
target special
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PCT/CN2022/125296
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English (en)
French (fr)
Inventor
刘枫
高长胜
陈博
刘斌
吴杭哲
周枫
于欣彤
王野
李伟男
曹燕
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中国第一汽车股份有限公司
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Publication of WO2023066146A1 publication Critical patent/WO2023066146A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density

Definitions

  • the embodiments of the present application relate to the technical field of intelligent driving, for example, to a vehicle avoidance control method, device, electronic device, and storage medium.
  • Embodiments of the present application provide a vehicle avoidance control method, device, electronic equipment, and storage medium.
  • an embodiment of the present application provides a vehicle avoidance control method, including:
  • the vehicle in the current lane is controlled to move in a direction away from the lane where the target special vehicle is located to avoid, so as to give way to a part of the lane occupied by the vehicle in the current lane.
  • the embodiment of the present application also provides a vehicle avoidance control device, including:
  • the target special vehicle identification module is configured to identify whether there is a target special vehicle within the preset distance range of the vehicle in the current lane in response to starting the intelligent driving function;
  • the traffic congestion information determination module is configured to determine traffic congestion information within a preset distance range of vehicles in the current lane in response to identifying and determining that there is a target special vehicle and that the target special vehicle is located behind the vehicle in the current lane or behind the vehicle in the side lane;
  • the vehicle movement avoidance module is configured to control the vehicle in the current lane to move and avoid in a direction away from the lane where the target special vehicle is located in response to the traffic congestion information indicating that congestion occurs, so as to give up part of the lane occupied by the vehicle in the current lane.
  • an electronic device including:
  • processors one or more processors
  • a storage device configured to store one or more programs
  • the one or more programs are executed by the one or more processors, so that the one or more processors implement the vehicle avoidance control method provided in any embodiment of the present application.
  • the embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the vehicle avoidance control method provided in any embodiment of the present application is implemented.
  • FIG. 1 is a flow chart of a vehicle avoidance control method provided in Embodiment 1 of the present application;
  • FIG. 2 is a flow chart of a vehicle avoidance control method provided in Embodiment 2 of the present application;
  • Fig. 2A is a flowchart of a control method for avoiding special vehicles provided by an embodiment of the present application
  • Fig. 2B is a schematic diagram of a vehicle that can change lanes and avoid vehicles provided by the embodiment of the present application;
  • Fig. 2C is a schematic diagram of a vehicle that cannot change lanes and avoid vehicles provided by the embodiment of the present application;
  • FIG. 2D is a schematic diagram of a vehicle avoidance operation provided by an embodiment of the present application.
  • Fig. 2E is a schematic diagram of a vehicle avoiding the passage of special vehicles provided by the embodiment of the present application.
  • FIG. 2F is a schematic diagram of a vehicle avoidance provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a vehicle avoidance control device provided in Embodiment 3 of the present application.
  • FIG. 4 is a schematic structural diagram of an electronic device provided in Embodiment 4 of the present application.
  • Fig. 1 is a flow chart of a vehicle avoidance control method provided in Embodiment 1 of the present application.
  • the method can give way to emergency passages for special vehicles to pass through under the condition of road congestion.
  • This method can be executed by a vehicle avoidance control device.
  • the means can be realized by software and/or hardware, and can be integrated in electronic equipment.
  • the vehicle avoidance control method in the present embodiment comprises the following steps:
  • the preset distance range may refer to a preset effective distance range within which the vehicle in the current lane can be identified, for example, it may be to identify whether there is a target special vehicle within 5 meters of the vehicle in the current lane.
  • the target special vehicles may refer to vehicles that perform special tasks, including but not limited to special vehicles such as ambulances, fire trucks, and police cars.
  • the identification determines that there is a target special vehicle, and the target special vehicle is located behind the vehicle in the current lane or behind the vehicle in the side lane, determine traffic congestion information within a preset distance range of the vehicle in the current lane.
  • the traffic congestion information may refer to the congestion level information of road sections or intersections, for example, if there is a target special vehicle behind the vehicle in the current lane, then determine the congestion level within the preset range of the vehicle in the current lane.
  • the rear of the vehicle in the side lane may refer to the rear of the vehicle in the lanes on both sides of the vehicle in the current lane, as shown in Figure 2C, if there is a target special vehicle behind the vehicle B in the side lane of the vehicle A in the current lane, then determine the preset distance range of A traffic congestion within.
  • moving avoidance can refer to moving the vehicle in the current lane, giving way to the lane occupied by some vehicles in the current lane, so that the target special vehicle can pass smoothly.
  • the vehicle in the current lane moves to the side lane and moves to the position of the dotted line vehicle, so that the target special vehicle can pass smoothly.
  • Giving up part of the lanes occupied by the vehicles in the current lane may refer to giving up part of the lanes where the current vehicles are located for the passage of the target special vehicle; or for other evasive vehicles to occupy, and other vehicles give up their lanes for the passage of the target special vehicle.
  • the embodiment of the present application provides a vehicle avoidance control method, by identifying whether there is a target special vehicle within the preset distance range of the vehicle in the current lane when the intelligent driving function is activated; if the identification determines that there is a target special vehicle, and the target special vehicle If the vehicle is behind the vehicle in the current lane or behind the vehicle in the side lane, determine the traffic congestion information within the preset distance range of the vehicle in the current lane; Move sideways to avoid, so as to give up the lane occupied by some vehicles in the current lane, so as to realize the emergency passage for special vehicles to pass through special avoidance when the road traffic is congested and it is impossible to change lanes.
  • FIG. 2 is a flow chart of another vehicle avoidance control method provided in Embodiment 2 of the present application.
  • the embodiments of the present application further optimize the foregoing embodiments on the basis of the foregoing embodiments, and the embodiments of the present application may be combined with one or more of the foregoing embodiments.
  • the vehicle avoidance control method provided in the embodiment of the present application may include the following steps:
  • the traffic environment recognition information may refer to the information around the lane where the current vehicle is acquired by the vehicle sensor, and the traffic environment recognition includes but not limited to lane line recognition, surrounding vehicle recognition, obstacle recognition and lane boundary recognition.
  • Vehicle attribute information may refer to vehicle attribute information of special vehicles obtained through including but not limited to on-board sensors or vehicle to everything (V2X) communication of the Internet of Vehicles.
  • the vehicle attribute information includes but not limited to vehicle duty information, vehicle location information, vehicle Speed information and vehicle status information.
  • the vehicle state information may refer to whether it is in an emergency state, such as fire fighting.
  • the vehicle-mounted sensors include, but are not limited to, image acquisition sensors, millimeter-wave radar sensors, lidar sensors, ultrasonic radar sensors, and surround view sensors.
  • Using on-board sensors or Internet of Vehicles V2X communication to obtain the vehicle attribute information of special vehicles and the information around the lane where the current vehicle is located can accurately determine the position of special vehicles and avoid special vehicles without being affected by the environment.
  • the recognition determines that there is a target special vehicle, and the target special vehicle is located behind the vehicle in the current lane or behind the vehicle in the side lane, then determine the traffic congestion information within the preset distance range of the vehicle in the current lane.
  • the vehicle avoidance trajectory may refer to real-time planning of the driving trajectory of the vehicle in the current lane according to the traffic environment identification information, so as to plan a reasonable avoidance trajectory for special vehicles.
  • the avoidance operation of the vehicle includes, but is not limited to, turning sideways to the left front of the vehicle or to the right front of the vehicle to give way to the emergency passage.
  • S240 Generate a vehicle avoidance control command according to the vehicle avoidance control information used for vehicle avoidance, and perform horizontal and vertical control on the vehicle in the current lane along the vehicle avoidance track according to the vehicle avoidance control command.
  • the vehicle avoidance control instruction may refer to an instruction to perform vehicle avoidance control on vehicles in the current lane according to traffic environment identification information and vehicle avoidance trajectory;
  • the vehicle avoidance control information includes but not limited to vehicle speed, vehicle acceleration, vehicle steering speed and vehicle steering acceleration;
  • the lateral and longitudinal control is used to control the longitudinal drive and lateral steering of the vehicle.
  • Longitudinal drive includes but not limited to engine, electric motor and hybrid power, etc.;
  • lateral steering includes but not limited to steering mechanism and system.
  • the vehicle in the current lane is controlled to move in a direction away from the lane where the target special vehicle is located for avoidance.
  • the vehicle in the current lane when it is detected that the vehicle behind the vehicle in the current lane and/or the vehicle in the side lane of the vehicle in the current lane moves to avoid the direction of the lane where the target special vehicle is located, the vehicle in the current lane starts to avoid; it is detected that there is a target special vehicle behind the vehicle in the current lane , the vehicle in the current lane avoids.
  • the vehicle in the current lane is controlled to move toward the side that deviates from the lane where the target special vehicle is located, if it is detected that the vehicle behind the vehicle in the current lane and/or the vehicle in the side lane of the vehicle in the current lane avoids, then the vehicle in the current lane is controlled to move toward The direction side fine-tuning movement deviated from the lane where the target special vehicle is located continues to avoid.
  • the avoidance reminder may refer to the prompt information sent to vehicles in the side lane when avoidance is required, for example, the avoidance reminder includes but is not limited to turning on double flashing lights for flashing and/or turning on a speaker for broadcasting.
  • the vehicle is normally driven under the control of the intelligent driving system, and it is judged in real time whether there is a special vehicle near the vehicle in the current lane, and if there is a special vehicle, an avoidance operation is performed, as shown in Figure 2A, the control method for the vehicle to avoid the special vehicle
  • the flow chart may include steps S1-S7:
  • the system judges in real time whether there is a special vehicle near the vehicle in the current lane according to the traffic environment identification information and vehicle attribute information;
  • the vehicle in the current lane performs a lane-changing operation to avoid the special vehicle, as shown in FIG. 2B ;
  • the special vehicle passes through the emergency passage that is evacuated by vehicles in the current lane and other vehicles;
  • the embodiment of the present application provides a vehicle avoidance control method, which determines whether there is a target special vehicle within the preset distance range of vehicles in the current lane through the traffic environment identification information and the vehicle attribute information of the special vehicle; Behind the vehicle in the lane or behind the vehicle in the side lane, determine the traffic congestion information within the preset distance range of the vehicle in the current lane; plan the driving trajectory planning of the vehicle in the current lane according to the traffic environment identification information around the vehicle in the current lane, and obtain the deviation target special
  • Fig. 3 is a schematic structural diagram of a vehicle avoidance control device provided in Embodiment 3 of the present application.
  • the device can give way to emergency passages for special vehicles to pass under the condition of road congestion, and the device can be realized by software and/or hardware and integrated in electronic equipment.
  • the device is used to implement the vehicle avoidance control method provided in the above embodiments.
  • the vehicle avoidance control device provided in this embodiment includes:
  • the target special vehicle identification module 310 is configured to identify whether there is a target special vehicle within the preset distance range of the vehicle in the current lane in response to starting the intelligent driving function;
  • the traffic congestion information determination module 320 is configured to determine traffic congestion information within a preset distance range of vehicles in the current lane in response to identifying and determining that there is a target special vehicle and that the target special vehicle is located behind the vehicle in the current lane or behind the vehicle in the side lane;
  • the vehicle movement avoidance module 330 is configured to respond to the traffic congestion information indicating that congestion occurs, and control the vehicles in the current lane to move and avoid in a direction away from the lane where the target special vehicle is located, so as to give up part of the lane occupied by the vehicles in the current lane.
  • the target special vehicle identification module 310 is set to:
  • the traffic environment identification includes lane line identification, surrounding vehicle identification, obstacle identification and lane boundary identification;
  • the vehicle attribute information includes vehicle duty information, vehicle location information, vehicle speed information and vehicle status information;
  • the traffic environment identification information and the vehicle attribute information of the special vehicle it is determined whether there is a target special vehicle within the preset distance range of the vehicle in the current lane.
  • the traffic environment identification information is obtained by the vehicle sensor
  • the vehicle attribute information is obtained by the vehicle sensor or the Internet of Vehicles V2X communication
  • the vehicle sensor includes the following: image acquisition sensor, millimeter wave radar sensor , lidar sensor, ultrasonic radar sensor and surround view sensor.
  • the vehicle movement avoidance module 330 includes:
  • the traffic environment identification information around the vehicle in the current lane plan the driving trajectory of the vehicle in the current lane, and obtain the avoidance trajectory of the vehicle moving in the direction that deviates from the lane where the target special vehicle is located;
  • the vehicle avoidance control information includes vehicle speed, vehicle acceleration, vehicle steering speed and vehicle steering acceleration; the horizontal and vertical control is set to control the longitudinal driving and lateral steering of the vehicle.
  • the vehicle movement avoidance module 330 is further configured to:
  • the vehicle in the current lane is controlled to move in a direction away from the lane where the target special vehicle is located for avoidance.
  • the vehicle movement avoidance module 330 further includes:
  • the vehicle in the current lane is controlled to move in the direction that deviates from the lane where the target special vehicle is located, if it is detected that the vehicle behind the vehicle in the current lane and/or the vehicle in the side lane of the vehicle in the current lane avoids, then the vehicle in the current lane is controlled to deviate from the target special vehicle Fine-tune the movement on the direction side of the lane to continue avoiding.
  • the moving avoidance operation of the vehicle includes performing a sideways steering movement to the left front of the vehicle or to the right front of the vehicle to get out of the emergency passage.
  • the vehicle avoidance control device further includes:
  • the avoidance reminder module is configured to send an avoidance reminder to the side lane vehicles of the current lane vehicle when controlling the current lane vehicle to move away from the direction side of the lane where the target special vehicle is located; the avoidance reminder includes turning on double flashing lights to flash and / Or turn on the speaker to broadcast.
  • the vehicle avoidance control device provided in the embodiment of the present application can execute the vehicle avoidance control method provided in any embodiment of the above application, and has the corresponding functions and beneficial effects of executing the vehicle avoidance control method.
  • the vehicle avoidance control method provided in any embodiment of the above application, and has the corresponding functions and beneficial effects of executing the vehicle avoidance control method.
  • Operations related to the vehicle avoidance control method refer to the foregoing embodiments. Operations related to the vehicle avoidance control method.
  • FIG. 4 is a schematic structural diagram of an electronic device provided in Embodiment 4 of the present application.
  • An embodiment of the present application provides an electronic device, and the electronic device can be integrated with the vehicle avoidance control device provided in the embodiment of the present application.
  • this embodiment provides an electronic device 400, which includes: one or more processors 420; a storage device 410 for storing one or more programs, when the one or more programs are executed The one or more processors 420 execute, so that the one or more processors 420 implement the vehicle avoidance control method provided in the embodiment of the present application, the method includes:
  • the vehicle in the current lane is controlled to move in a direction away from the lane where the target special vehicle is located to avoid, so as to give way to a part of the lane occupied by the vehicle in the current lane.
  • processor 420 can also implement the vehicle avoidance control method provided in any embodiment of the present application.
  • the electronic device 400 shown in FIG. 4 is only an example, and should not limit the functions and scope of use of this embodiment of the present application.
  • the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of processors 420 in the electronic device may be one or more, and in FIG. As an example; the processor 420, the storage device 410, the input device 430 and the output device 440 in the electronic device may be connected through a bus or in other ways. In FIG. 4, the connection through the bus 450 is taken as an example.
  • the storage device 410 can be used to store software programs, computer-executable programs and module units, such as program instructions corresponding to the vehicle avoidance control method in the embodiment of the present application.
  • the storage device 410 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, and the like.
  • the storage device 410 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.
  • the storage device 410 may further include memories that are remotely located relative to the processor 420, and these remote memories may be connected through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the input device 430 can be used to receive input numbers, character information or voice information, and generate key signal input related to user settings and function control of the electronic device.
  • the output device 440 may include electronic equipment such as a display screen and a speaker.
  • the electronic device provided by the embodiment of the present application can achieve the technical effect of giving way to the emergency passage for special vehicles to pass in the case of congested road traffic.
  • Embodiment 5 of the present application provides a computer-readable medium, on which a computer program is stored, and when the program is executed by a processor, it is used to execute a vehicle avoidance control method, the method comprising:
  • the vehicle in the current lane is controlled to move in a direction away from the lane where the target special vehicle is located to avoid, so as to give way to a part of the lane occupied by the vehicle in the current lane.
  • the program when executed by the processor, it can also be used to execute the vehicle avoidance control method provided in any embodiment of the present application.
  • the computer storage medium in the embodiments of the present application may use any combination of one or more computer-readable media.
  • the computer readable medium may be a computer readable signal medium or a computer readable storage medium.
  • a computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more conductors, portable computer disks, hard disks, Random Access Memory (RAM), read-only memory (Read Only Memory, ROM), Erasable Programmable Read Only Memory (EPROM), flash memory, optical fiber, portable CD-ROM, optical storage device, magnetic storage device, or any suitable combination of the above .
  • a computer readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device.
  • the storage medium may be a non-transitory storage medium.
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to: electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wires, optical cables, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.
  • any appropriate medium including but not limited to: wireless, wires, optical cables, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.
  • Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, and conventional Procedural Programming Language - such as "C" or a similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer can be connected to the user computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or it can be connected to an external computer (e.g. using an Internet Service Provider to connect via the Internet).
  • LAN Local Area Network
  • WAN Wide Area Network
  • Internet Service Provider to connect via the Internet

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Abstract

一种车辆避让控制方法，包括：响应于启动智能驾驶功能，识别当前车道车辆的预设距离范围内是否存在目标特种车辆（S110）；响应于识别确定存在目标特种车辆、且目标特种车辆位于当前车道车辆后方或旁侧车道车辆后方，确定当前车道车辆的预设距离范围内的交通拥堵信息（S120）；响应于交通拥堵信息指示发生拥堵，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，以让出部分当前车道车辆占据的车道（S130）。还提供了一种车辆避让控制装置、一种电子设备以及一种存储介质。

Description

车辆避让控制方法、装置、电子设备及存储介质
本申请要求在2021年10月19日提交中国专利局、申请号为202111215007.1的中国专利申请的优先权，以上申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及智能驾驶技术领域，例如涉及一种车辆避让控制方法、装置、电子设备及存储介质。
背景技术
随着自动驾驶技术的发展，自动驾驶所能处理的场景也越来越丰富，逐渐接近人类驾驶员的水平。自动驾驶所涉及的交通参与者多为普通车辆，针对消防车、救护车、警车等特殊车辆时，较少有特殊策略针对此工况，自动驾驶特中，遇到特殊车辆执行任务，若只将其作为普通车辆处理，则不会对其避让，尤其是在交通较为拥堵的工况下，会导致特殊车辆无法及时通过，延误特殊车辆的任务执行。
发明内容
本申请实施例中提供了一种车辆避让控制方法、装置、电子设备及存储介质。
第一方面，本申请实施例中提供了一种车辆避让控制方法，包括：
响应于启动智能驾驶功能，识别当前车道车辆的预设距离范围内是否存在目标特种车辆；
响应于识别确定存在目标特种车辆、且目标特种车辆位于当前车道车辆后方或旁侧车道车辆后方，确定当前车道车辆的预设距离范围内的交通拥堵信息；
响应于交通拥堵信息指示发生拥堵，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，以让出部分当前车道车辆占据的车道。
第二方面，本申请实施例中还提供了一种车辆避让控制装置，包括：
目标特种车辆识别模块，设置为响应于启动智能驾驶功能，识别当前车道车辆的预设距离范围内是否存在目标特种车辆；
交通拥堵信息确定模块，设置为响应于识别确定存在目标特种车辆、且目标特种车辆位于当前车道车辆后方或旁侧车道车辆后方，确定当前车道车辆的预设距离范围内的交通拥堵信息；
车辆移动避让模块，设置为响应于交通拥堵信息指示发生拥堵，则控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，以让出部分当前车道车辆占据的车道。
第三方面，本申请实施例中还提供了一种电子设备，包括：
一个或多个处理器；
存储装置，设置为存储一个或多个程序；
所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如本申请任意实施例中提供的车辆避让控制方法。
第四方面，本申请实施例中还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请任意实施例中提供的车辆避让控制方法。
上述发明内容仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征和优点将会变得更明显。附图仅用于示出实施方式的目的，而并不认为是对本申请的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1是本申请实施例一提供的一种车辆避让控制方法的流程图；
图2是本申请实施例二提供的一种车辆避让控制方法的流程图；
图2A是本申请实施例提供的一种车辆避让特种车辆的控制方法的流程图；
图2B是本申请实施例提供的一种车辆可换道避让示意图；
图2C是本申请实施例提供的一种车辆不可换道避让示意图；
图2D是本申请实施例提供的一种车辆避让操作示意图；
图2E是本申请实施例提供的一种车辆避让特种车辆通过的示意图；
图2F是本申请实施例提供的一种车辆避让完成示意图；
图3是本申请实施例三提供的一种车辆避让控制装置的结构示意图；
图4是本申请实施例四提供的一种电子设备的结构示意图。
具体实施方式
下面结合附图和实施例对本申请进行说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
在更加详细地讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各项操作(或步骤)描述成顺序的处理，但是其中的许多操作可以被并行地、并发地或者同时实施。此外，各项操作的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。
实施例一
图1是本申请实施例一中提供的一种车辆避让控制方法的流程图，该方法可以在道路拥挤的情况下让出紧急通道供特种车辆通过，该方法可由车辆避让控制装置来执行，该装置可由软件和/或硬件实现，并可集成于电子设备中。如图1所示，本实施例中的车辆避让控制方法，包括以下步骤：
S110、在启动智能驾驶功能的情况下，识别当前车道车辆的预设距离范围内是否存在目标特种车辆。
其中，预设距离范围可以是指预先设定的当前车道车辆能够进行识别的有效距离范围，例如可以是识别当前车道车辆5米范围内是否存在目标特种车辆。
目标特种车辆可以是指执行特殊任务的车辆，例如包含但不限于救护车、消防车以及警车等特殊车辆。
S120、若识别确定存在目标特种车辆，且目标特种车辆位于当前车道车辆后方或旁侧车道车辆后方，则确定当前车道车辆的预设距离范围内的交通拥堵信息。
其中，交通拥堵信息可以是指路段或交叉口的拥挤程度信息，例如可以是当前车道车辆的后方存在目标特种车辆，则确定当前车道车辆的预设范围内的拥挤程度。
旁侧车道车辆后方可以是指当前车道车辆的两侧车道的车辆后方，如图2C所示，当前车道车辆A的旁侧车道车辆B的后方存在目标特种车辆，则确定A的预设距离范围内的交通拥挤程度。
S130、若交通拥堵信息指示发生拥堵，则控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，以让出部分当前车道车辆占据的车道。
其中，移动避让可以是指移动当前车道车辆，让出部分当前车道车辆占据 的车道，以便目标特种车辆顺利通过。如图2D所示，当前车道车辆向旁侧车道移动，移动至虚线车辆的位置，以便目标特种车辆顺利通过。
让出部分当前车道车辆占据的车道可以是指让出部分当前车辆所在车道供目标特种车辆通过；或者供其他避让车辆占用，其他车辆让出所在车道供目标特种车辆通过。
本申请实施例提供了一种车辆避让控制方法，通过在启动智能驾驶功能的情况下，识别当前车道车辆的预设距离范围内是否存在目标特种车辆；若识别确定存在目标特种车辆，且目标特种车辆位于当前车道车辆后方或旁侧车道车辆后方，则确定当前车道车辆的预设距离范围内的交通拥堵信息；若交通拥堵信息指示发生拥堵，则控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，以让出部分当前车道车辆占据的车道，以实现在道路交通拥挤且无法换道的情况下，通过特殊避让，让出紧急通道供特种车辆通过。
实施例二
图2是本申请实施例二提供的另一种车辆避让控制方法的流程图。本申请实施例在上述实施例的基础上对前述实施例进行进一步优化，本申请实施例可以与上述一个或者多个实施例结合。如图2所示，本申请实施例中提供的车辆避让控制方法，可包括以下步骤：
S210、依据交通环境识别信息与所述特种车辆的车辆属性信息，确定当前车道车辆的预设距离范围内是否存在目标特种车辆。
其中，交通环境识别信息可以是指通过车载传感器获取的当前车辆所在车道周围的信息，所述交通环境识别包括但不限于车道线识别、周围车辆识别、障碍物识别以及车道边界识别。
车辆属性信息可以是指通过包括但不限于车载传感器或车联网vehicle to everything(V2X)通信获取的特种车辆的车辆属性信息，所述车辆属性信息包括但不限于车辆执勤信息、车辆位置信息、车辆速度信息以及车辆状态信息。所述车辆状态信息可以是指是否处于紧急状态，例如救火等。
示例性地，所述车载传感器包括但不限于图像采集传感器、毫米波雷达传感器、激光雷达传感器、超声波雷达传感器以及环视传感器。
采用车载传感器或车联网V2X通信获取特种车辆的车辆属性信息以及当前车辆所在车道周围的信息，能够不受环境的影响，精准判断特种车辆的位置，对特种车辆进行避让。
S220、若识别确定存在目标特种车辆，且目标特种车辆位于当前车道车辆 后方或旁侧车道车辆后方，则确定当前车道车辆的预设距离范围内的交通拥堵信息。
S230、依据当前车道车辆周围的交通环境识别信息规划当前车道车辆的行驶轨迹规划，得到朝偏离目标特种车辆所在车道的方向侧移动避让的车辆避让轨迹。
其中，车辆避让轨迹可以是指根据交通环境识别信息，实时对当前车道车辆的行驶轨迹进行规划，可实现对特殊车辆进行规划出合理的避让轨迹。
示例性地，车辆的移动避让操作包括但不限于向车辆左前方或向车辆右前方进行侧身转向移动，让出紧急通道。
S240、依据车辆避让使用的车辆避让操控信息生成车辆避让控制指令，并依据所述车辆避让控制指令沿着所述车辆避让轨迹对当前车道车辆执行横纵向控制。
其中，车辆避让控制指令可以是指根据交通环境识别信息以及车辆避让轨迹对当前车道车辆进行车辆避让操控的指令；所述车辆避让操控信息包括但不限于车辆速度、车辆加速度、车辆转向速度以及车辆转向加速度；
示例性地，所述横纵向控制用于控制车辆的纵向驱动与横向转向。纵向驱动包括但不限于发动机、电动机以及混合动力等；横向转向包括但不限于转向机构及系统。
示例性地，检测当前车道车辆后方车辆和/或当前车道车辆的旁侧车道车辆的避让情况；
依据所述避让情况和/或目标车辆所在的车道，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让。
其中，在检测到当前车道车辆后方车辆和/或当前车道车辆的旁侧车道车辆朝偏离目标特种车辆所在车道的方向移动避让时，当前车道车辆开始避让；检测到当前车道车辆后方存在目标特种车辆时，当前车道车辆进行避让。
示例性地，在控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动后，若检测到当前车道车辆后方车辆和/或当前车道车辆的旁侧车道车辆进行避让，则控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧微调移动继续进行避让。
S250、在控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让时，向当前车道车辆的旁侧车道车辆发出避让提醒。
其中，避让提醒可以是指在需要避让时对旁侧车道车辆发出的提示信息， 例如避让提醒包括但不限于打开双闪灯进行闪烁和/或开启扬声器进行广播。
在一实施例中，车辆在智能驾驶系统的控制下正常行驶，实时判断当前车道车辆附近是否有特种车辆，若存在特种车辆则进行避让操作，如图2A所示为车辆避让特种车辆的控制方法的流程图，可包括步骤S1-S7：
S1、系统根据交通环境识别信息以及车辆属性信息实时判断当前车道车辆附近是否存在特殊车辆；
S2、当检测出当前车道车辆附件有特殊车辆时，根据特殊车辆与当前车道车辆的位置，判断特殊车辆是否处于当前车道车辆后方；
S3、当检测出特殊车辆处于当前车道车辆后方，结合交通环境识别信息判断当前交通环境是否拥堵，当前车道车辆能否执行换道操作以避让特殊车辆：
S4、当检测到当前车道车辆后方存在特殊车辆，且当前交通环境满足当前车道车辆换道条件，则当前车道车辆通过换道操作，对特殊车辆进行避让，如图2B所示；
S5、如图2C所示，当前交通环境处于拥堵，且当前情况无法满足当前车道车辆换道条件；则当前车道车辆执行特殊避让操作如图2D所示，当前车道车辆向左或向右前方侧身转向，同时打开双闪灯，让出紧急通道；
S6、如图2E所示，特种车辆通过由当前车道车辆以及其他车辆所让出的紧急通道；
S7、如图2F所示，当前车道车辆避让后，实时监测特殊车辆是否通过，待特种车辆超越当前车道车辆通过后，当前车道车辆执行返回当前车道居中位置，继续执行正常自动驾驶策略与控制。
本申请实施例提供了一种车辆避让控制方法，通过交通环境识别信息与所述特种车辆的车辆属性信息，确定当前车道车辆的预设距离范围内是否存在目标特种车辆；当目标特种车辆位于当前车道车辆后方或旁侧车道车辆后方，则确定当前车道车辆的预设距离范围内的交通拥堵信息；依据当前车道车辆周围的交通环境识别信息规划当前车道车辆的行驶轨迹规划，得到朝偏离目标特种车辆所在车道的方向侧移动避让的车辆避让轨迹；依据车辆避让使用的车辆避让操控信息生成车辆避让控制指令，并依据所述车辆避让控制指令沿着所述车辆避让轨迹对当前车道车辆执行横纵向控制；在控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让时，向当前车道车辆的旁侧车道车辆发出避让提醒；在特种车辆通过后，当前车道车辆回到车道居中位置，继续正常行驶。实现了在道路交通拥挤且无法换道避让的情况下，实时检测交通拥堵信息， 不受环境的影响精准判断特种车辆的位置，合理规划避让轨迹控制车辆移动，同时向当前车道车辆的旁侧车道车辆发出避让提醒，通过特殊避让，让出紧急通道供特种车辆顺利通过。
实施例三
图3是本申请实施例三中提供的一种车辆避让控制装置的结构示意图。该装置可以在道路拥挤的情况下让出紧急通道供特种车辆通过，该装置可由软件和/或硬件实现，并集成在电子设备中。该装置用于实现上述实施例提供的车辆避让控制方法。如图3所示，本实施例中提供的车辆避让控制装置，包括：
目标特种车辆识别模块310，设置为响应于启动智能驾驶功能，识别当前车道车辆的预设距离范围内是否存在目标特种车辆；
交通拥堵信息确定模块320，设置为响应于识别确定存在目标特种车辆、且目标特种车辆位于当前车道车辆后方或旁侧车道车辆后方，确定当前车道车辆的预设距离范围内的交通拥堵信息；
车辆移动避让模块330，设置为响应于交通拥堵信息指示发生拥堵，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，以让出部分当前车道车辆占据的车道。
在上述实施例的基础上，在一示例中，所述目标特种车辆识别模块310设置为：
确定当前车道车辆周围的交通环境识别信息；所述交通环境识别包括车道线识别、周围车辆识别、障碍物识别以及车道边界识别；
确定特种车辆的车辆属性信息；所述车辆属性信息包括车辆执勤信息、车辆位置信息、车辆速度信息以及车辆状态信息；
依据交通环境识别信息与所述特种车辆的车辆属性信息，确定当前车道车辆的预设距离范围内是否存在目标特种车辆。
在上述实施例的基础上，在一示例中，所述交通环境识别信息通过车载传感器获取，车辆属性信息通过车载传感器或车联网V2X通信获取；车载传感器包括以下：图像采集传感器、毫米波雷达传感器、激光雷达传感器、超声波雷达传感器以及环视传感器。
在上述实施例的基础上，在一示例中，所述车辆移动避让模块330包括：
依据当前车道车辆周围的交通环境识别信息规划当前车道车辆的行驶轨迹规划，得到朝偏离目标特种车辆所在车道的方向侧移动避让的车辆避让轨迹；
依据车辆避让使用的车辆避让操控信息生成车辆避让控制指令，并依据所 述车辆避让控制指令沿着所述车辆避让轨迹对当前车道车辆执行横纵向控制；
其中，所述车辆避让操控信息包括车辆速度、车辆加速度、车辆转向速度以及车辆转向加速度；所述横纵向控制设置为控制车辆的纵向驱动与横向转向。
在上述实施例的基础上，在一示例中，所述车辆移动避让模块330还设置为：
检测当前车道车辆后方车辆和/或当前车道车辆的旁侧车道车辆的避让情况；
依据所述避让情况和/或目标车辆所在的车道，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让。
在上述实施例的基础上，在一示例中，所述车辆移动避让模块330还包括：
在控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动后，若检测到当前车道车辆后方车辆和/或当前车道车辆的旁侧车道车辆进行避让，则控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧微调移动继续进行避让。
在上述实施例的基础上，在一示例中，所述车辆的移动避让操作包括向车辆左前方或向车辆右前方进行侧身转向移动，让出紧急通道。
在上述实施例的基础上，在一示例中，所述车辆避让控制装置还包括：
避让提醒模块，设置为在控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让时，向当前车道车辆的旁侧车道车辆发出避让提醒；所述避让提醒包括打开双闪灯进行闪烁和/或开启扬声器进行广播。
本申请实施例中所提供的车辆避让控制装置可执行上述本申请任意实施例中所提供的车辆避让控制方法，具备执行该车辆避让控制方法相应的功能和有益效果，详细过程参见前述实施例中车辆避让控制方法的相关操作。
实施例四
图4是本申请实施例四提供的一种电子设备的结构示意图。本申请实施例提供了一种电子设备，该电子设备中可集成本申请实施例提供的车辆避让控制装置。如图4所示，本实施例提供了一种电子设备400，其包括：一个或多个处理器420；存储装置410，用于存储一个或多个程序，当所述一个或多个程序被所述一个或多个处理器420执行，使得所述一个或多个处理器420实现本申请实施例所提供的车辆避让控制方法，该方法包括：
响应于启动智能驾驶功能，识别当前车道车辆的预设距离范围内是否存在目标特种车辆；
响应于识别确定存在目标特种车辆、且目标特种车辆位于当前车道车辆后方或旁侧车道车辆后方，确定当前车道车辆的预设距离范围内的交通拥堵信息；
响应于交通拥堵信息指示发生拥堵，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，以让出部分当前车道车辆占据的车道。
本领域技术人员可以理解，处理器420还实现本申请任意实施例所提供的车辆避让控制方法。
图4显示的电子设备400仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图4所示，该电子设备400包括处理器420、存储装置410、输入装置430和输出装置440；电子设备中处理器420的数量可以是一个或多个，图4中以一个处理器420为例；电子设备中的处理器420、存储装置410、输入装置430和输出装置440可以通过总线或其他方式连接，图4中以通过总线450连接为例。
存储装置410作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块单元，如本申请实施例中的车辆避让控制方法对应的程序指令。
存储装置410可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，存储装置410可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储装置410可进一步包括相对于处理器420远程设置的存储器，这些远程存储器可以通过网络连接。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置430可用于接收输入的数字、字符信息或语音信息，以及产生与电子设备的用户设置以及功能控制有关的键信号输入。输出装置440可包括显示屏、扬声器等电子设备。
本申请实施例提供的电子设备，可以达到在道路交通拥挤的情况下让出紧急通道供特种车辆通过的技术效果。
实施例五
本申请实施例五中提供了一种计算机可读介质，其上存储有计算机程序，该程序被处理器执行时用于执行车辆避让控制方法，该方法包括：
响应于启动智能驾驶功能，识别当前车道车辆的预设距离范围内是否存在目标特种车辆；
响应于识别确定存在目标特种车辆、且目标特种车辆位于当前车道车辆后方或旁侧车道车辆后方，确定当前车道车辆的预设距离范围内的交通拥堵信息；
响应于交通拥堵信息指示发生拥堵，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，以让出部分当前车道车辆占据的车道。
在一实施例中，该程序被处理器执行时还可以用于执行本申请任意实施例中所提供的车辆避让控制方法。
本申请实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(Random Access Memory，RAM)、只读存储器(Read Only Memory，ROM)、可擦式可编程只读存储器(Erasable Programmable Read Only Memory，EPROM)、闪存、光纤、便携式CD-ROM、光存储器件、磁存储器件、或者上述的任意合适的组合。计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
存储介质可以是非暂态(non-transitory)存储介质。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于：电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、无线电频率(Radio Frequency，RF)等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机 上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(Local Area Network，LAN)或广域网(Wide Area Network，WAN)——连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
本领域技术人员会理解，本申请不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本申请的保护范围。因此，虽然通过以上实施例对本申请进行了较为详细的说明，但是本申请不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本申请的范围由所附的权利要求范围决定。

Claims (12)

  1. 一种车辆避让控制方法，包括：
    响应于启动智能驾驶功能，识别当前车道车辆的预设距离范围内是否存在目标特种车辆；
    响应于识别确定存在目标特种车辆、且目标特种车辆位于当前车道车辆后方或旁侧车道车辆后方，确定当前车道车辆的预设距离范围内的交通拥堵信息；
    响应于交通拥堵信息指示发生拥堵，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，以让出部分当前车道车辆占据的车道。
  2. 根据权利要求1所述的方法，其中，识别当前车道车辆的预设距离范围内是否存在目标特种车辆，包括：
    确定当前车道车辆周围的交通环境识别信息；所述交通环境识别包括车道线识别、周围车辆识别、障碍物识别以及车道边界识别；
    确定特种车辆的车辆属性信息；所述车辆属性信息包括车辆执勤信息、车辆位置信息、车辆速度信息以及车辆状态信息；
    依据交通环境识别信息与所述特种车辆的车辆属性信息，确定当前车道车辆的预设距离范围内是否存在目标特种车辆。
  3. 根据权利要求2所述的方法，其中，交通环境识别信息通过车载传感器获取，车辆属性信息通过车载传感器或车联网V2X通信获取。
  4. 根据权利要求3所述的方法，其中，所述车载传感器包括以下：图像采集传感器、毫米波雷达传感器、激光雷达传感器、超声波雷达传感器以及环视传感器。
  5. 根据权利要求1所述的方法，其中，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，包括：
    依据当前车道车辆周围的交通环境识别信息规划当前车道车辆的行驶轨迹规划，得到朝偏离目标特种车辆所在车道的方向侧移动避让的车辆避让轨迹；
    依据车辆避让使用的车辆避让操控信息生成车辆避让控制指令，并依据所述车辆避让控制指令沿着所述车辆避让轨迹对当前车道车辆执行横纵向控制；
    其中，所述车辆避让操控信息包括车辆速度、车辆加速度、车辆转向速度以及车辆转向加速度；所述横纵向控制设置为控制车辆的纵向驱动与横向转向。
  6. 根据权利要求1所述的方法，其中，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，包括：
    检测当前车道车辆后方车辆或当前车道车辆的旁侧车道车辆中的至少一个的避让情况；
    依据所述避让情况或目标车辆所在的车道中的至少一个，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让。
  7. 根据权利要求1-6中任一所述的方法，其中，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，包括：
    在控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动后，响应于检测到当前车道车辆后方车辆或当前车道车辆的旁侧车道车辆中的至少一个进行避让，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧微调移动继续进行避让。
  8. 根据权利要求1所述的方法，其中，车辆的移动避让操作包括向车辆左前方或向车辆右前方进行侧身转向移动，让出紧急通道。
  9. 根据权利要求1所述的方法，还包括：
    响应于控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，向当前车道车辆的旁侧车道车辆发出避让提醒；所述避让提醒包括打开双闪灯进行闪烁或开启扬声器进行广播中的至少一个。
  10. 一种车辆避让控制装置，包括：
    目标特种车辆识别模块，设置为响应于启动智能驾驶功能，识别当前车道车辆的预设距离范围内是否存在目标特种车辆；
    交通拥堵信息确定模块，设置为响应于识别确定存在目标特种车辆、且目标特种车辆位于当前车道车辆后方或旁侧车道车辆后方，确定当前车道车辆的预设距离范围内的交通拥堵信息；
    车辆移动避让模块，设置为响应于交通拥堵信息指示发生拥堵，控制当前车道车辆朝偏离目标特种车辆所在车道的方向侧移动避让，以让出部分当前车道车辆占据的车道。
  11. 一种电子设备，包括：
    一个或多个处理器；
    存储装置，设置为存储一个或多个程序；
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现权利要求1-9中任一所述的一种车辆避让控制方法。
  12. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现权利要求1-9中任一所述的一种车辆避让控制方法。
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