CN115230686A

CN115230686A - Method, device, equipment and storage medium for avoiding jammed vehicle

Info

Publication number: CN115230686A
Application number: CN202210743588.4A
Authority: CN
Inventors: 汪禹辰; 张可朋; 李茜茜; 张建博; 庞鲁鸣
Original assignee: Wuhan Lotus Technology Co Ltd
Current assignee: Wuhan Lotus Technology Co Ltd
Priority date: 2022-06-27
Filing date: 2022-06-27
Publication date: 2022-10-25

Abstract

The application discloses a method, a device, equipment and a storage medium for avoiding a jammed vehicle, wherein the method comprises the following steps: if the traffic condition of the first lane is a congestion state, determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and driving based on the first vehicle speed; the first lane is a lane adjacent to a current lane where the current vehicle is located; if a first vehicle exists on the first lane, adjusting the current position to an avoidance position in the first direction; the first vehicle is located in front of the current vehicle in the second direction and has a tendency of changing lanes to a current lane; the avoidance position and the first vehicle are at least separated by a preset safety distance in the first direction. Therefore, the driving behaviors of the vehicles in the adjacent lanes can be pre-judged, so that the driving condition in front of the current vehicle is pre-judged in advance, the current vehicle can make a response action in advance, and the driving safety of the current vehicle and the riding comfort of passengers are improved.

Description

Method, device and equipment for avoiding jammed vehicle and storage medium

Technical Field

The application relates to the field of intelligent driving, in particular to a method, a device, equipment and a storage medium for avoiding a jammed vehicle.

Background

The intelligent driving is a technology for assisting or automatically completing automobile driving by intensively applying an information control technology and combining functions of environment perception, multi-level auxiliary driving and the like, and not only can the automobile be driven according to a preset route, but also the vehicles in adjacent lanes can be monitored in the driving process, and lane-changing and traffic-jam vehicles can be avoided, so that the driving safety is ensured.

In the prior art, in the case of sudden congestion of an adjacent lane, a scheme of capturing the first few frames of actions of lane-changing vehicles of the adjacent lane to predict the following movement track of the lane-changing vehicles is generally adopted, and after the lane-changing vehicles are sensed to have lane-changing actions, the vehicles can make corresponding reactions, such as obstacle avoidance from lane deviation or rapid deceleration. However, when the speed of the self-lane is relatively high, a large deceleration is caused, so that passengers lean forward greatly due to inertia, the riding comfort of the passengers is reduced, and even vehicle collision caused by untimely deceleration occurs, thereby bringing about potential safety hazards. In addition, because the scheme only captures the first few frames of actions of the lane-changing vehicle, the perception of the lane-changing vehicle has certain instability, and partial false detection and false identification can be caused, so that unnecessary inching brake is caused, and the riding comfort of passengers is further reduced.

Disclosure of Invention

The embodiment of the application provides a vehicle collision avoidance method, a vehicle collision avoidance device, equipment and a storage medium, which can be used for prejudging the driving behavior of vehicles in adjacent lanes, so that the driving condition in front of the current vehicle is prejudged in advance, the current vehicle can make a response action in advance, and the driving safety of the current vehicle and the riding comfort of passengers are improved.

In one aspect, an embodiment of the present application provides a method for avoiding a jammed vehicle, where the method includes:

if the traffic condition of the first lane is a congestion state, determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and driving based on the first vehicle speed; the first lane is a lane adjacent to a current lane where the current vehicle is located;

if a first vehicle exists on the first lane, adjusting the current position to an avoidance position in the first direction; the first vehicle is located in front of the current vehicle in the second direction and has a tendency of changing lanes to a current lane; the avoidance position and the first vehicle are at least separated by a preset safety distance in the first direction.

Further, if there is a first vehicle on the first lane, after adjusting from the current position to the avoidance position in the first direction, the method further includes:

if the first vehicle changes lane successfully, keeping a preset vehicle following distance with the first vehicle in the second direction;

if the avoidance position is not in the safe driving area, adjusting the avoidance position to the safe driving area; in the safe driving area, the current vehicle is at least separated from the vehicle on the non-current lane by a preset safe distance.

Further, if the traffic condition of the first lane is a congestion state, determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and before driving based on the first vehicle speed, the method further includes:

determining a traffic flow difference value based on the number of vehicles of the first lane that the current vehicle passes through and/or determining a traffic flow difference value based on the number of vehicles of the first lane that the current vehicle passes through;

determining a vehicle speed difference value based on the current vehicle speed and the speed of the vehicle speed of the first lane;

determining a vehicle spacing on a first lane;

and determining the traffic condition of the first lane based on the traffic flow difference value, the vehicle speed difference value and the vehicle distance.

Further, determining the traffic condition of the first lane based on the traffic flow difference, the vehicle speed difference and the vehicle distance, comprising:

and if the traffic flow difference value is larger than the preset threshold value within the preset time, the vehicle speed difference value is larger than a first preset vehicle speed difference, and the vehicle distance is smaller than the preset distance, determining that the traffic condition of the first lane is a congestion state.

Further, if the traffic condition of the first lane is a congestion state, determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and after driving based on the first vehicle speed, the method further includes:

if a second vehicle exists on the current lane and a third vehicle exists on the first lane, determining a second vehicle speed based on the first vehicle speed and a second preset deceleration parameter, and driving based on the second vehicle speed; the second vehicle is a vehicle located ahead of the current vehicle in a second direction; the third vehicle is located in front of the second vehicle in the second direction and has a tendency to change lanes to a current lane.

if the fourth vehicle and the fifth vehicle exist on the first lane, determining a distance difference between the fourth vehicle and the current vehicle in the second direction and a vehicle speed difference between the fourth vehicle and the current vehicle; the fourth vehicle and the fifth vehicle are located ahead of the current vehicle in the second direction; the fourth vehicle is located behind the fifth vehicle in the second direction, and the vehicle speed of the fourth vehicle is greater than the vehicle speed of the fifth vehicle;

and if the distance difference between the current vehicle and the fourth vehicle in the second direction is smaller than or equal to the preset vehicle following distance, the vehicle speed difference between the current vehicle and the fourth vehicle is smaller than or equal to a second preset vehicle speed difference, and the distance difference between the current vehicle and the second vehicle in the second direction is larger than or equal to the preset vehicle following distance, determining a third vehicle speed based on the first vehicle speed and a preset acceleration parameter, and driving based on the third vehicle speed so as to exceed the fourth vehicle in the second direction.

Further, after determining a distance difference between the fourth vehicle and the current vehicle in the second direction and a vehicle speed difference between the fourth vehicle and the current vehicle, the method further includes:

and if the distance difference between the current vehicle and the fourth vehicle in the second direction is greater than the preset vehicle following distance, or the vehicle speed difference between the current vehicle and the fourth vehicle is greater than the second preset vehicle speed difference, or the distance difference between the current vehicle and the second vehicle in the second direction is less than the preset vehicle following distance, determining the second vehicle speed based on the first vehicle speed and the second preset speed reduction parameter, and driving based on the second vehicle speed.

if a sixth vehicle located behind the non-driving area exists on the first lane, determining a second vehicle speed based on the first vehicle speed and a second preset speed reduction parameter, and driving based on the second vehicle speed; the sixth vehicle is located ahead of the current vehicle in the second direction.

On the other hand, the embodiment of the present application provides a vehicle dodging device with a jam, and the device includes:

the vehicle deceleration module is used for determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter and driving based on the first vehicle speed if the traffic condition of the first lane is a congestion state; the first lane is a lane adjacent to a current lane where the current vehicle is located;

the position avoidance module is used for adjusting the current position to an avoidance position in the first direction if a first vehicle exists on the first lane; the first vehicle is positioned in front of the current vehicle in the second direction and has a tendency of changing lanes to the current lane; the avoidance position and the first vehicle are at least separated by a preset safety distance in the first direction.

Further, the apparatus further comprises:

the position adjusting module is used for keeping a preset vehicle following distance with the first vehicle in the second direction if the first vehicle changes lane successfully; if the avoidance position is not in the safe driving area, adjusting the avoidance position to the safe driving area; in the safe driving area, the current vehicle is at least separated from the vehicle on the non-current lane by a preset safe distance.

Further, the apparatus further comprises:

the traffic condition determining module is used for determining a traffic flow difference value based on the number of vehicles of the first lane passed by the current vehicle and/or determining the traffic flow difference value based on the number of vehicles of the first lane passed by the current vehicle; determining a vehicle speed difference value based on the current vehicle speed and the speed of the vehicle speed of the first lane; determining a vehicle spacing on a first lane; and determining the traffic condition of the first lane based on the traffic flow difference value, the vehicle speed difference value and the vehicle distance.

Further, the traffic condition determining module is configured to determine that the traffic condition of the first lane is in a congestion state if the traffic flow difference is greater than a preset threshold within a preset time, the vehicle speed difference is greater than a first preset vehicle speed difference, and the vehicle distance is smaller than a preset distance.

Further, the vehicle deceleration module is used for determining a second vehicle speed based on the first vehicle speed and a second preset deceleration parameter and driving based on the second vehicle speed if a second vehicle exists on the current lane and a third vehicle exists on the first lane; the second vehicle is a vehicle located ahead of the current vehicle in a second direction; the third vehicle is located in front of the second vehicle in the second direction and has a tendency to change lanes to a current lane.

Further, the apparatus further comprises:

the difference value determining module is used for determining the distance difference between the fourth vehicle and the current vehicle in the second direction and the vehicle speed difference between the fourth vehicle and the current vehicle if the fourth vehicle and the fifth vehicle exist in the first lane; the fourth vehicle and the fifth vehicle are located ahead of the current vehicle in the second direction; the fourth vehicle is located behind the fifth vehicle in the second direction, and the vehicle speed of the fourth vehicle is greater than the vehicle speed of the fifth vehicle;

and the vehicle acceleration module is used for determining a third vehicle speed based on the first vehicle speed and a preset acceleration parameter and driving based on the third vehicle speed so as to exceed the fourth vehicle in the second direction if the distance difference between the current vehicle and the fourth vehicle in the second direction is smaller than or equal to a preset vehicle following distance, the vehicle speed difference between the current vehicle and the fourth vehicle is smaller than or equal to a second preset vehicle speed difference, and the distance difference between the current vehicle and the second vehicle in the second direction is larger than or equal to the preset vehicle following distance.

Further, the vehicle speed reduction module is further configured to determine a second vehicle speed based on the first vehicle speed and a second preset speed reduction parameter, and drive based on the second vehicle speed, if a distance difference between the current vehicle and the fourth vehicle in the second direction is greater than a preset vehicle following distance, or a vehicle speed difference between the current vehicle and the fourth vehicle is greater than a second preset vehicle speed difference, or the distance difference between the current vehicle and the second vehicle in the second direction is less than the preset vehicle following distance.

Further, the vehicle speed reduction device is also used for determining a second vehicle speed based on the first vehicle speed and a second preset speed reduction parameter if a sixth vehicle located behind the non-driving area exists on the first lane, and driving based on the second vehicle speed; the sixth vehicle is located ahead of the current vehicle in the second direction.

In another aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and executes the method for avoiding a jammed vehicle as described above.

In another aspect, an embodiment of the present application provides a computer storage medium, where at least one instruction or at least one program is stored in the computer storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the jammed vehicle avoidance method described above.

The method, the device, the equipment and the storage medium for avoiding the jammed vehicle have the following technical effects:

if the traffic condition of the first lane is a congestion state, determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and driving based on the first vehicle speed; the first lane is a lane adjacent to a current lane where the current vehicle is located; if a first vehicle exists on the first lane, adjusting the current position to an avoidance position in the first direction; the first vehicle is located in front of the current vehicle in the second direction and has a tendency of changing lanes to a current lane; the avoidance position and the first vehicle are at least separated by a preset safety distance in the first direction. Therefore, the driving behaviors of the vehicles in the adjacent lanes can be pre-judged, so that the driving condition in front of the current vehicle is pre-judged in advance, the current vehicle can make a response action in advance, and the driving safety of the current vehicle and the riding comfort of passengers are improved.

Drawings

In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

fig. 2 is a schematic flow chart of a method for avoiding a jammed vehicle according to an embodiment of the present application;

fig. 3 is a schematic flowchart of a jammed vehicle avoidance method provided in an embodiment of the present application;

fig. 4 is a schematic flow chart of a jammed vehicle avoidance method provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a vehicle dodging device with a jam according to an embodiment of the present disclosure;

fig. 6 is a hardware block diagram of a server of a method for avoiding a jammed vehicle according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be implemented in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1, fig. 1 is a schematic diagram of an application environment provided in an embodiment of the present application, and includes a sensing module 101, an avoidance module 102, and a current vehicle 103. The sensing module 101 is arranged on the current vehicle 103 and used for sensing and acquiring environmental information around the current vehicle 103 in real time; the avoidance module 102 receives environmental information around the current vehicle 103, confirms the driving conditions of the vehicle in the lane where the current vehicle 103 is located and in front of the adjacent lane based on the environmental information, and accordingly pre-judges a congested vehicle or a vehicle which may have a congested action in advance, and sends corresponding avoidance information to enable the current vehicle 103 to act in advance to deal with the vehicle congestion.

Specifically, when the traffic condition of the current vehicle 103 in the first lane is a congestion state, determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and driving based on the first vehicle speed; the first lane is a lane adjacent to the current lane where the current vehicle 103 is located; if a first vehicle exists on the first lane, adjusting the current position to an avoidance position in the first direction; the first vehicle is a vehicle which is positioned in front of the current vehicle 103 in the second direction and has a tendency to change lanes to the current lane; the avoidance position and the first vehicle are at least separated by a preset safety distance in the first direction.

As an alternative embodiment, the sensing module 101 may include a camera, a laser radar, and other sensors capable of acquiring surrounding environment information, which are disposed in front of or around the current vehicle 103, and are used for acquiring vehicle driving information and road information around the current vehicle 103 in real time.

As an alternative embodiment, the avoidance module 102 may be integrated in a driving system inside the current vehicle 103, and only receives the perception information of the perception module 101 of the current vehicle 103, and only gives an avoidance indication to the current vehicle 103. As an alternative embodiment, the avoidance module 102 may be disposed outside the current vehicle 103, and serve as a single application system, and simultaneously receive the perception information sent by the perception modules 101 of the multiple current vehicles 103, and make avoidance indications for the multiple current vehicles 103, so as to simplify the structure of the current vehicle 103 while ensuring the avoidance capability of the current vehicle 103 for a congested vehicle.

The following describes a specific embodiment of a jammed vehicle avoidance method according to the present application, and fig. 2 is a schematic flow chart of the jammed vehicle avoidance method according to the embodiment of the present application, and the present specification provides the method operation steps as in the embodiment or the flow chart, but may include more or less operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 2, the method may include:

s201: and if the traffic condition of the first lane is in a congestion state, determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and driving based on the first vehicle speed.

In the embodiment of the present application, the first lane is a lane adjacent to a current lane where the current vehicle 103 is located. Under the condition that the traffic condition of the first lane is in a congestion state, in order to reduce congestion time on the first lane, vehicles in the first lane all have the possibility of changing lanes from the first lane to the own lane, at the moment, the current vehicle 103 determines the first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, performs pre-deceleration, prevents the current vehicle 103 from making an emergency avoidance because the vehicle suddenly gets jammed in front of the vehicle, and reserves a condition of changing lanes to the current lane for the lane of the first lane.

As an alternative embodiment, the first preset deceleration parameter is any one value between 5% and 20%, specifically determined by the magnitude of the current vehicle speed. Specifically, the first preset deceleration parameter may be directly proportional to the current vehicle speed, i.e. the larger the current vehicle speed, the larger the first preset deceleration parameter is. Alternatively, the first preset deceleration parameter may be in a linear relationship with the current vehicle speed.

As an optional implementation manner, fig. 3 shows a schematic flow chart of a method for avoiding a jammed vehicle provided in an embodiment of the present application, and step S201: if the traffic condition of the first lane is the congestion state, determining the first vehicle speed based on the current vehicle speed and the first preset deceleration parameter, and before driving based on the first vehicle speed, further comprising a step of determining the traffic condition of the first lane, as specifically shown in fig. 3:

s301: the traffic flow difference is determined based on the number of vehicles of the first lane that the current vehicle 103 passes through and/or the traffic flow difference is determined based on the number of vehicles of the first lane that pass through the current vehicle 103.

In the embodiment of the application, the difference between the number of vehicles passing through the first lane and the current lane is recorded through a sensing device such as a camera and/or a laser radar on the current vehicle 103, so that the traffic flow difference between the two lanes is determined. The current vehicle 103 passes through the vehicle in the first lane, which indicates that the speed of the current vehicle 103 is greater than that of the vehicle in the first lane, i.e. the speed of the current lane is greater than that of the first lane; the vehicle in the first lane passes through the current vehicle 103, which indicates that the speed of the current vehicle 103 is less than the speed of the vehicle in the first lane, i.e. the speed of the current lane is less than the speed of the first lane.

As an alternative embodiment, the difference between the number of vehicles passing through the first lane and the current lane within the preset time is used as the difference between the traffic flow of the two lanes.

S303: a vehicle speed difference is determined based on the current vehicle speed and a speed of the vehicle in the first lane.

In the embodiment of the present application, a position difference of a vehicle on the first lane within a period of time may be obtained by using a sensing device such as a camera and/or a lidar, which is provided on the current vehicle 103, and the speed of the vehicle on the first lane may be determined based on the time and the position difference. And taking the current vehicle speed and the speed difference value of the vehicle in the first lane as the vehicle speed difference value between the two lanes.

As an alternative implementation, the speed of the vehicle on the first lane within the preset distance range may be averaged as the speed of the vehicle on the first lane, so as to improve the reliability of the vehicle speed difference calculation.

As an alternative, the preset distance range may be adjusted according to actual requirements and software and hardware capabilities of the sensing device and the current vehicle 103 system.

S305: a vehicle separation on the first lane is determined.

In the embodiment of the application, the distance between vehicles on the first lane can be determined by sensing devices such as a camera and/or a laser radar arranged on the current vehicle 103.

As an alternative implementation, the vehicle distance between the vehicles on the first lane within the preset distance range may be averaged to serve as the vehicle distance between the vehicles on the first lane, so as to improve the reliability of the vehicle speed difference calculation.

As an alternative embodiment, the preset distance range may be adjusted according to actual requirements and software and hardware capabilities of the sensing device and the current vehicle 103 system.

S307: and determining the traffic condition of the first lane based on the traffic flow difference value, the vehicle speed difference value and the vehicle distance.

In the embodiment of the application, if the traffic flow difference value is greater than the preset threshold value within the preset time, the vehicle speed difference value is greater than the first preset vehicle speed difference, and the vehicle distance is smaller than the preset distance, it is determined that the traffic condition of the first lane is in a congestion state.

In the embodiment of the application, the traffic condition of the first lane is determined by considering the traffic flow difference and the vehicle speed difference between the first lane and the current lane, the traffic condition of the first lane is not only considered, but also the traffic condition of the current lane is considered, so that the situation that the first lane and the current lane are both in a congestion condition and the vehicle in the first lane cannot or does not need to change the lane to the current lane is avoided, and the consideration on the driving possibility of the vehicle on the first lane is more reasonable and comprehensive.

S203: if the first vehicle exists on the first lane, the current position is adjusted to the avoidance position in the first direction.

In the embodiment of the present application, the first vehicle is a vehicle which is located in front of the current vehicle 103 in the second direction and has a tendency to change lanes to the current lane. The tendency of the first vehicle to change lane to the current lane indicates that the first vehicle will jam in front of the current vehicle 103, and the current vehicle 103 needs to avoid in time and is adjusted to an avoidance position to reserve a space for the first vehicle to change lane.

As an alternative, there is a tendency to change lane to the current lane in that the midpoint of the line segment formed by the two rear wheels of the vehicle is on the lane line between the first lane and the current lane, or the midpoint has crossed the lane line, is located within the current lane.

As an alternative embodiment, the first direction is a lateral direction, i.e. a direction perpendicular to the lane. Correspondingly, the second direction is the longitudinal direction, which coincides with the direction of the lane, which is the direction of travel of the vehicle.

As an optional implementation manner, the avoidance position is at least a preset safety distance away from the first vehicle in the first direction, so as to ensure that the current vehicle 103 does not collide with the first vehicle which is changing lane and is jammed in front of the current vehicle 103, and ensure the driving safety of the current vehicle 103.

As an alternative implementation manner, fig. 4 shows a schematic diagram of a jammed vehicle avoidance method provided in an embodiment of the present application, and as shown in fig. 4, step S203: if there is a first vehicle on the first lane, after adjusting from the current position to the avoidance position in the first direction, the method further includes:

s401: and if the first vehicle changes the lane successfully, keeping a preset following distance with the first vehicle in the second direction.

In the embodiment of the present application, when the body of the first vehicle is completely located in the current lane, and the position of the current vehicle 103 is viewed forward, the two rear wheels of the first vehicle completely block the two front wheels, that is, the longitudinal direction of the body of the first vehicle is consistent with the lane direction, and the driving direction of the first vehicle is consistent with the lane direction, it indicates that the lane change of the first lane is successful, at this time, the current vehicle 103 keeps the preset following distance from the first vehicle in the second direction, and the current vehicle 103 normally follows the vehicle.

As an alternative embodiment, the preset following distance is determined by the relative speed between the current vehicle 103 and the first vehicle and the Time To Collision (TTC). The preset following distance can ensure that a driver of the current vehicle 103 can follow the emergency brake of the first vehicle after reaction without colliding with the first vehicle when the emergency brake of the first vehicle is carried out, so that the driving safety of the current vehicle 103 is ensured.

S403: and if the avoidance position is not in the safe driving area, adjusting the avoidance position to the safe driving area.

In the embodiment of the application, in the safe driving area, the current vehicle 103 is separated from the vehicle on the non-current lane by at least a preset safe distance.

As an alternative embodiment, the vehicles on the non-current lane include vehicles whose bodies do not all enter the current lane.

As an alternative embodiment, when the current lane has only the first lane and one adjacent same-direction lane, the non-current lane is the first lane. And when two adjacent same-direction lanes exist in the current lane, the non-current lane not only comprises the first lane, but also comprises another adjacent lane of the current lane.

As an alternative embodiment, in the safe driving area, the current vehicle 103 is spaced at least a preset safe distance from the vehicle on the non-current lane, and is also spaced at least a preset safe distance from an obstacle existing on the road, such as a green road or the like.

The above method details a specific way of dealing with the current vehicle 103 when there is a first vehicle on the first lane that is jammed in front of the current vehicle. If a second vehicle exists on the current lane and a third vehicle exists on the first lane, wherein the second vehicle is a vehicle located in front of the current vehicle 103 in the second direction, and the third vehicle is a vehicle located in front of the second vehicle in the second direction and having a tendency to change lanes to the current lane, that is, the second vehicle travels in front of the current vehicle 103, the third vehicle will jam in front of the second vehicle, and at this time, the current vehicle 103 determines a second vehicle speed based on the first vehicle speed and a second preset deceleration parameter and travels based on the second vehicle speed. Because the coping mode of the second vehicle ahead for the third vehicle with the jam cannot be predicted, the current vehicle 103 performs pre-deceleration firstly, so that the current vehicle 103 is prevented from suddenly decelerating along with sudden deceleration caused by sudden deceleration of the second vehicle, the riding comfort of passengers is ensured, a distance for coping with the follow-up action of the second vehicle is reserved, and then corresponding action is performed according to the follow-up action of the second vehicle.

As an alternative embodiment, when the front vehicle 103 has a first vehicle which may be jammed in front on the first lane, it is predicted and a corresponding action is performed; when there is a possible vehicle jammed in front of the current vehicle 103 on the first lane, this is also predicted and a corresponding action is taken. Specifically, the following two cases can be classified.

In the first case, there are fourth and fifth vehicles on the first lane, the fourth and fifth vehicles being located ahead of the current vehicle 103 in the second direction, the fourth vehicle being located behind the fifth vehicle in the second direction, and the vehicle speed of the fourth vehicle being greater than the vehicle speed of the fifth vehicle. At this time, a distance difference between the fourth vehicle and the current vehicle 103 in the second direction and a vehicle speed difference between the fourth vehicle and the current vehicle 103 are determined.

As an alternative embodiment, if the distance difference between the current vehicle 103 and the fourth vehicle in the second direction is less than or equal to the preset following distance, the speed difference between the current vehicle 103 and the fourth vehicle is less than or equal to the second preset speed difference, and the distance difference between the current vehicle 103 and the second vehicle in the second direction is greater than or equal to the preset following distance, it indicates that the position of the current vehicle 103 in the second direction is not much different from that of the fourth vehicle, even there is a possibility that the current vehicle 103 exceeds the fourth vehicle in the second direction, and the speed difference between the current vehicle 103 and the fourth vehicle is small, and there is a sufficient distance in front of the current vehicle 103 to accelerate. At this time, the current vehicle 103 determines a third vehicle speed based on the first vehicle speed and a preset acceleration parameter, and travels based on the third vehicle speed to overtake the fourth vehicle in the second direction, evade the rear position to the fourth vehicle for lane change, and evade the front position to the fourth vehicle for lane change without deceleration.

As an alternative embodiment, if the distance difference between the current vehicle 103 and the fourth vehicle in the second direction is greater than the preset following distance, or the speed difference between the current vehicle 103 and the fourth vehicle is greater than the second preset speed difference, or the distance difference between the current vehicle 103 and the second vehicle in the second direction is smaller than the preset following distance, it indicates that the position difference between the current vehicle 103 and the fourth vehicle in the second direction is greater or the speed difference between the current vehicle 103 and the fourth vehicle is too great, the overtaking of the current vehicle 103 to the fourth vehicle cannot be completed only by acceleration, or the acceleration overtaking cannot be completed only by a sufficient distance in front of the current vehicle 103. At this time, the current vehicle 103 determines the second vehicle speed based on the first vehicle speed and the second preset deceleration parameter, and runs based on the second vehicle speed.

As an alternative, in the case of normal driving, the current vehicle 103 may always keep at least the preset following distance from the second vehicle, and when an emergency situation occurs in front of the second vehicle, such as the situation where the third vehicle is jammed in front of the second vehicle, the distance between the current vehicle 103 and the second vehicle may be smaller than the preset following distance, and when the current vehicle 103 accelerates, the current vehicle may collide with the second vehicle.

In the second case, there is a sixth vehicle located behind the no-travel region on the first lane, which is located in front of the current vehicle 103 in the second direction. At this time, the sixth vehicle must change the lane to another lane to continue traveling, and accordingly, the current vehicle 103 determines the second vehicle speed based on the first vehicle speed and the second preset deceleration parameter, and travels based on the second vehicle speed.

As an alternative implementation manner, if the distance difference between the current vehicle 103 and the sixth vehicle in the second direction is less than or equal to the preset following distance, the speed difference between the current vehicle 103 and the sixth vehicle is less than or equal to the second preset speed difference, and the distance difference between the current vehicle 103 and the sixth vehicle in the second direction is greater than or equal to the preset following distance, the current vehicle 103 may directly accelerate to pass the sixth vehicle without decelerating to allow the sixth vehicle to pass the front position. At this time, the current vehicle 103 determines a third vehicle speed based on the first vehicle speed and a preset acceleration parameter, and runs based on the third vehicle speed.

As an alternative embodiment, the no-drive area may be an area where the vehicle on the first lane must change lanes to drive due to various reasons, such as obstacles, road maintenance, and the first lane merging into the current lane.

The embodiment of the present application further provides a jammed vehicle avoiding device, and fig. 5 is a schematic structural diagram of the jammed vehicle avoiding device provided in the embodiment of the present application, and as shown in fig. 5, the device includes:

the vehicle deceleration module 501 is configured to determine a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter if the traffic condition of the first lane is a congestion state, and drive based on the first vehicle speed; the first lane is a lane adjacent to a current lane where the current vehicle is located;

a position avoidance module 502, configured to adjust from a current position to an avoidance position in a first direction if a first vehicle exists on the first lane; the first vehicle is positioned in front of the current vehicle in the second direction and has a tendency of changing lanes to the current lane; the avoidance position and the first vehicle are at least separated by a preset safety distance in the first direction.

As an optional implementation, the apparatus further comprises:

the traffic condition determining module is used for determining a traffic flow difference value based on the number of vehicles of the first lane passed by the current vehicle and/or determining the traffic flow difference value based on the number of vehicles of the first lane passed by the current vehicle; determining a vehicle speed difference based on the current vehicle speed and the speed of the vehicle speed of the first lane; determining a vehicle spacing on a first lane; and determining the traffic condition of the first lane based on the traffic flow difference value, the vehicle speed difference value and the vehicle distance.

As an optional implementation manner, the traffic condition determining module is configured to determine that the traffic condition of the first lane is in a congestion state if the traffic flow difference is greater than a preset threshold within a preset time, the vehicle speed difference is greater than a first preset vehicle speed difference, and the vehicle distance is smaller than a preset distance.

As an optional implementation manner, the vehicle deceleration module is further configured to determine a second vehicle speed based on the first vehicle speed and a second preset deceleration parameter if a second vehicle exists in the current lane and a third vehicle exists in the first lane, and drive based on the second vehicle speed; the second vehicle is a vehicle located ahead of the current vehicle in a second direction; the third vehicle is located in front of the second vehicle in the second direction and has a tendency to change lanes to the current lane.

As an optional implementation, the apparatus further comprises:

the difference value determining module is used for determining the distance difference between the fourth vehicle and the current vehicle in the second direction and the vehicle speed difference between the fourth vehicle and the current vehicle if the fourth vehicle and the fifth vehicle exist on the first lane; the fourth vehicle and the fifth vehicle are located ahead of the current vehicle in the second direction; the fourth vehicle is located behind the fifth vehicle in the second direction, and the vehicle speed of the fourth vehicle is greater than the vehicle speed of the fifth vehicle;

As an optional implementation manner, the vehicle deceleration module is further configured to determine a second vehicle speed based on the first vehicle speed and a second preset deceleration parameter and drive based on the second vehicle speed if a distance difference between the current vehicle and the fourth vehicle in the second direction is greater than a preset vehicle following distance, or a vehicle speed difference between the current vehicle and the fourth vehicle is greater than a second preset vehicle speed difference, or a distance difference between the current vehicle and the second vehicle in the second direction is less than the preset vehicle following distance.

As an alternative embodiment, the vehicle deceleration device is further configured to determine a second vehicle speed based on the first vehicle speed and a second preset deceleration parameter and to drive based on the second vehicle speed if a sixth vehicle located behind the no-driving region exists on the first lane; the sixth vehicle is located ahead of the current vehicle in the second direction.

The device and method embodiments in the device embodiment are based on the same application concept.

The method provided by the embodiment of the application can be executed in a mobile terminal, a computer terminal, a server or a similar operation device. Taking an example of the method running on a server, fig. 6 is a block diagram of a hardware structure of the server of the method for determining rainfall provided in the embodiment of the present application. As shown in fig. 6, the server 600 may have a relatively large difference due to different configurations or performances, and may include one or more Central Processing Units (CPUs) 610 (the processor 610 may include but is not limited to a Processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 630 for storing data, and one or more storage media 620 (e.g., one or more mass storage devices) for storing applications 623 or data 622. Memory 630 and storage medium 620 may be, among other things, transient storage or persistent storage. The program stored on the storage medium 620 may include one or more modules, each of which may include a sequence of instructions operating on a server. Still further, the central processor 610 may be configured to communicate with the storage medium 620 to execute a series of instruction operations in the storage medium 620 on the server 600. The server 600 may also include one or more power supplies 660, one or more wired or wireless network interfaces 650, one or more input-output interfaces 640, and/or one or more operating systems 621, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, and so forth.

The input/output interface 640 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 600. In one example, i/o Interface 640 includes a Network adapter (NIC) that may be coupled to other Network devices via a base station to communicate with the internet. In one example, the input/output interface 640 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.

It will be understood by those skilled in the art that the structure shown in fig. 6 is only an illustration and is not intended to limit the structure of the electronic device. For example, server 600 may also include more or fewer components than shown in FIG. 6, or have a different configuration than shown in FIG. 6.

Embodiments of the present application further provide a vehicle collision avoidance apparatus, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the method for determining rainfall.

Embodiments of the present application further provide a storage medium, which may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a quantity value determining method in the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement the jammed vehicle avoidance method provided in the method embodiments.

Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.

According to the embodiment of the method, the device, the equipment and the storage medium for avoiding the jammed vehicle, if the traffic condition of the first lane is a jammed state, the first vehicle speed is determined based on the current vehicle speed and the first preset deceleration parameter, and the vehicle runs based on the first vehicle speed; the first lane is a lane adjacent to a current lane where the current vehicle is located; if a first vehicle exists on the first lane, adjusting the current position to an avoidance position in the first direction; the first vehicle is positioned in front of the current vehicle in the second direction and has a tendency of changing lanes to the current lane; the avoidance position and the first vehicle are at least separated by a preset safety distance in the first direction. Therefore, the driving behaviors of the vehicles in the adjacent lanes can be pre-judged, so that the driving condition in front of the current vehicle is pre-judged in advance, the current vehicle can make a response action in advance, and the driving safety of the current vehicle and the riding comfort of passengers are improved.

It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages or disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.

It will be understood by those skilled in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The present invention is not limited to the above embodiments, and any modifications, equivalents, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A jammed vehicle avoidance method, the method comprising:

if a first vehicle exists on the first lane, adjusting the current position to an avoidance position in a first direction; the first vehicle is located in front of the current vehicle in a second direction and tends to change lanes to the current lane; the avoidance position and the first vehicle are at least separated by a preset safety distance in the first direction.

2. The method for avoiding a jammed vehicle according to claim 1, wherein, if a first vehicle exists on the first lane, after adjusting from a current position to an avoidance position in a first direction, further comprising:

if the first vehicle changes lane successfully, keeping a preset following distance with the first vehicle in the second direction;

if the avoidance position is not in the safe driving area, adjusting the avoidance position to the safe driving area; and in the safe driving area, the current vehicle is separated from the vehicle on the non-current lane by at least the preset safe distance.

3. The congested vehicle avoidance method according to claim 1, wherein if the traffic condition of the first lane is a congestion state, determining a first vehicle speed based on a current vehicle speed and a first preset deceleration parameter, and before driving based on the first vehicle speed, further comprising:

determining a traffic flow difference value based on the number of vehicles of the first lane that the current vehicle passes through and/or determining the traffic flow difference value based on the number of vehicles of the first lane that pass through the current vehicle;

determining a vehicle speed difference based on the current vehicle speed and a speed of the vehicle speed of the first lane;

determining a vehicle spacing on the first lane;

4. The congested vehicle avoidance method of claim 3, wherein said determining traffic conditions of the first lane based on the traffic flow difference, the vehicle speed difference, and the vehicle separation distance comprises:

if the traffic flow difference value is larger than a preset threshold value within a preset time, the vehicle speed difference value is larger than a first preset vehicle speed difference, the vehicle distance is smaller than a preset distance, and the traffic condition of the first lane is determined to be the congestion state.

5. The method for avoiding the jammed vehicle according to claim 1, wherein if the traffic condition of the first lane is the jammed state, the method further comprises determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and after driving based on the first vehicle speed:

if a second vehicle exists on the current lane and a third vehicle exists on the first lane, determining a second vehicle speed based on the first vehicle speed and a second preset deceleration parameter, and driving based on the second vehicle speed; the second vehicle is a vehicle located ahead of the current vehicle in the second direction; the third vehicle is located in front of the second vehicle in the second direction and tends to change lanes to the current lane.

6. The method for avoiding the jammed vehicle according to claim 1, wherein if the traffic condition of the first lane is the jammed state, the method further comprises determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and after driving based on the first vehicle speed:

if a fourth vehicle and a fifth vehicle exist on the first lane, determining a distance difference between the fourth vehicle and the current vehicle in the second direction and a vehicle speed difference between the fourth vehicle and the current vehicle; the fourth vehicle and the fifth vehicle are located ahead of the current vehicle in the second direction; the fourth vehicle is located behind the fifth vehicle in the second direction, and the vehicle speed of the fourth vehicle is greater than the vehicle speed of the fifth vehicle;

if the distance difference between the current vehicle and the fourth vehicle in the second direction is smaller than or equal to a preset vehicle following distance, the speed difference between the current vehicle and the fourth vehicle is smaller than or equal to a second preset vehicle speed difference, and the distance difference between the current vehicle and the second vehicle in the second direction is larger than or equal to the preset vehicle following distance, determining a third vehicle speed based on the first vehicle speed and a preset acceleration parameter, and driving based on the third vehicle speed so as to exceed the fourth vehicle in the second direction.

7. The jammed vehicle avoiding method according to claim 6, wherein after determining a distance difference between the fourth vehicle and the current vehicle in the second direction and a vehicle speed difference between the fourth vehicle and the current vehicle, further comprising:

and if the distance difference between the current vehicle and the fourth vehicle in the second direction is greater than the preset vehicle following distance, or the speed difference between the current vehicle and the fourth vehicle is greater than the second preset vehicle speed difference, or the distance difference between the current vehicle and the second vehicle in the second direction is less than the preset vehicle following distance, determining a second vehicle speed based on the first vehicle speed and a second preset deceleration parameter, and driving based on the second vehicle speed.

8. The method for avoiding the jammed vehicle according to claim 1, wherein if the traffic condition of the first lane is the jammed state, the method further comprises determining a first vehicle speed based on the current vehicle speed and a first preset deceleration parameter, and after driving based on the first vehicle speed:

if a sixth vehicle located behind the non-driving area exists on the first lane, determining a second vehicle speed based on the first vehicle speed and a second preset deceleration parameter, and driving based on the second vehicle speed; the sixth vehicle is located ahead of the current vehicle in the second direction.

9. A jammed vehicle avoidance apparatus, characterized in that the apparatus comprises:

the position avoidance module is used for adjusting the current position to an avoidance position in a first direction if a first vehicle exists on the first lane; the first vehicle is located in front of the current vehicle in a second direction and tends to change lanes to the current lane; the avoidance position and the first vehicle are at least separated by a preset safety distance in the first direction.

10. An electronic device, comprising a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and executes the jammed vehicle avoidance method according to any one of claims 1-8.

11. A computer storage medium having at least one instruction or at least one program stored therein, the at least one instruction or the at least one program being loaded and executed by a processor to implement a method of congestion vehicle avoidance according to any of claims 1-8.