WO2022143994A1

WO2022143994A1 - Vehicle avoidance method and apparatus

Info

Publication number: WO2022143994A1
Application number: PCT/CN2021/143753
Authority: WO
Inventors: 李伟
Original assignee: 广州小鹏自动驾驶科技有限公司
Priority date: 2021-01-04
Filing date: 2021-12-31
Publication date: 2022-07-07
Also published as: CN112693453A; CN112693453B

Abstract

Provided are a vehicle avoidance method and apparatus, which are applied to a first vehicle. The method comprises: when it is detected that there is a second vehicle in an opposite direction within a specified range, detecting an illumination brightness for the second vehicle; when the illumination brightness reaches a preset brightness threshold value, acquiring visual disturbance information corresponding to a driver inside a first vehicle; determining a driving stress level of the driver inside the first vehicle according to the visual disturbance information; and according to the driving stress level, controlling the first vehicle to perform avoidance. By means of the present application, the driving risk posed when a visual disturbance affects a driver and a driving stress of the driver is increased due to exposure to strong light can be reduced, thereby improving the driving safety of the vehicle when the vehicle meets a vehicle coming in the opposite direction.

Description

A vehicle avoidance method and device

This application claims the priority of the Chinese patent application filed on January 4, 2021, with the application number 202110005045.8, and the invention title is "A vehicle avoidance method and device", the entire contents of which are incorporated into this application by reference.

technical field

The present application relates to the technical field of automobiles, and in particular, to a vehicle avoidance method and a vehicle avoidance device.

Background technique

As a common means of transportation for more and more people to go out, driving safety is particularly important.

When driving at night, the driver may be affected by the headlights of the oncoming vehicle, which may affect the driver's visual perception and cause certain psychological pressure for the driver. Psychological stress may affect the driver's ability to judge while driving, causing certain driving risks.

SUMMARY OF THE INVENTION

In view of the above problems, the present application is made in order to provide a vehicle avoidance method and a corresponding vehicle avoidance device that overcome the above problems or at least partially solve the above problems.

The present application discloses a vehicle avoidance method, comprising: applying to a first vehicle, wherein the first vehicle is provided with a main camera and a sub-camera located in front of the side; the method includes:

When detecting that there is an opposite second vehicle within the specified range, detecting illumination brightness for the second vehicle;

When the illumination brightness reaches a preset brightness threshold, obtain the visual obstacle information corresponding to the driver in the first vehicle;

determining the driving stress level of the driver in the first vehicle according to the visual obstacle information;

The first vehicle is controlled to evade according to the driving pressure level.

Optionally, the first vehicle is provided with a steering control assembly; the step of controlling the first vehicle to avoid according to the driving pressure level includes:

If the driving pressure level is the first level, after it is detected that the steering control assembly is not turning in the opposite direction relative to the oncoming vehicle and the first vehicle is in the lane on the opposite side of the second vehicle When the avoidance space is safe, output confirmation avoidance request information;

generating a control instruction when receiving a confirmation operation event corresponding to the confirmation avoidance request information;

The first vehicle is controlled to evade according to the control instruction.

Optionally, the step of controlling the first vehicle to evade according to the driving pressure level includes:

If the driving pressure level is the second level, when the second vehicle and the first vehicle are at a first avoidance distance, and the lateral distance is less than a first preset distance threshold, and the first vehicle is located in the lane When the avoidance space on the opposite side of the second vehicle is safe, output avoidance prompt information;

generate control instructions;

The first vehicle is controlled to evade according to the control instruction.

If the driving pressure level is the third level, when the second vehicle and the first vehicle are separated by a second avoidance distance, and the lateral distance is less than a second preset distance threshold, and the first vehicle is located in the lane generating a control command when the avoidance space on the opposite side of the second vehicle is safe;

The first vehicle is controlled to evade according to the control instruction.

Optionally, the first vehicle is provided with a human-machine interaction component; the method further includes:

generating avoidance state information when the first vehicle avoids;

Using the human-computer interaction component to output the avoidance state information.

Optionally, also include:

When a steering operation or a braking operation of the driver is detected, stop controlling the first vehicle to evade according to the control instruction;

Obtain the target avoidance position when the driver's steering operation or braking operation is not detected;

determining whether the first vehicle has moved to the target avoidance position;

If not, return to the step of generating a control instruction.

Optionally, the step of determining the driving stress level of the driver in the first vehicle according to the visual obstacle information includes:

judging whether the second vehicle has entered a preset actionable distance;

If so, the driving stress level of the driver in the first vehicle is determined according to the visual obstacle information.

The application also discloses a vehicle avoidance device, which is applied to the first vehicle, and the device includes:

a brightness detection module, configured to detect the brightness of illumination for the second vehicle when it is detected that there is an opposite second vehicle within a specified range;

a visual obstacle information acquisition module, configured to acquire visual obstacle information corresponding to the driver in the first vehicle when the illumination brightness reaches a preset brightness threshold;

a driving stress level determination module, configured to determine the driving stress level of the driver in the first vehicle according to the visual obstacle information;

An avoidance control module, configured to control the first vehicle to avoid according to the driving pressure level.

Optionally, the first vehicle is provided with a steering control assembly; the avoidance control module includes:

The first level processing sub-module is configured to, if the driving pressure level is the first level, when it is detected that the steering control assembly does not turn in the opposite direction with respect to the opposite vehicle and the lane where the first vehicle is located is the same as the lane. When the avoidance space on the opposite side of the second vehicle is safe, output confirmation avoidance request information;

a first control instruction generation sub-module, configured to generate a control instruction when receiving a confirmation operation event corresponding to the confirmation avoidance request information;

The first avoidance submodule is configured to control the first vehicle to avoid according to the control instruction.

Optionally, the avoidance control module includes:

The second level processing sub-module is configured to, if the driving pressure level is the second level, when the second vehicle and the first vehicle are separated by a first avoidance distance, and the lateral distance is less than a first preset distance threshold, and When the avoidance space on the side opposite to the second vehicle in the lane where the first vehicle is located is safe, output avoidance prompt information;

a second control instruction generation submodule for generating a control instruction;

The second avoidance sub-module is configured to control the first vehicle to avoid according to the control instruction.

The present application also discloses a vehicle, comprising: a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program being executed by the processor to achieve the above The steps of the vehicle avoidance method.

The present application also discloses a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the vehicle avoidance method described above are implemented.

The present application includes the following advantages: when an opposite second vehicle is detected within a specified range, the illumination brightness of the second vehicle is detected, and when the illumination brightness reaches a preset brightness threshold, the first vehicle is acquired The visual obstacle information corresponding to the driver in the first vehicle is determined according to the visual obstacle information, and the driving pressure level of the driver in the first vehicle is determined according to the driving pressure level, and the first vehicle is controlled to avoid according to the driving pressure level, so as to realize the detection When the illumination brightness of the opposite second vehicle within the specified range is greater than the preset brightness threshold, determine the driver's driving pressure level according to the obtained driver's visual obstacle information, and control the first vehicle to the second vehicle according to the driving pressure level. The avoidance reduces the driving risk when the driver is exposed to strong light and causes visual obstruction and increases driving pressure, and improves the driving safety when the vehicle and the opposite vehicle meet.

Description of drawings

In order to illustrate the technical solutions of the present application more clearly, the following will briefly introduce the accompanying drawings used in the description of the present application. As far as technical personnel are concerned, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 is a kind of vehicle-mounted system structural block diagram of the present application;

2 is a flow chart of steps of an embodiment of a vehicle avoidance method of the present application;

3 is a structural block diagram of an embodiment of a vehicle avoidance device according to the present application;

Figure 4 schematically shows a block diagram of a computing processing device for performing the method according to the present application;

Figure 5 schematically shows a storage unit for holding or carrying program code implementing the method according to the application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in the present application. Not all implementations. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The present application can be applied to a first vehicle provided with an onboard system. Referring to FIG. 1 , a structural block diagram of an in-vehicle system of the present application is shown. The in-vehicle system may include: a main camera 101, a left front camera 102, a right front camera 103, a radar device 104, a speed sensor 105, an inertial sensor 106, a steering sensor 107, a brake switch sensor 108, a brake execution module 109, a steering execution module 110 and HMI (Human Machine Interface, human-machine interface) module 111 and central processing unit 112 . The main functions of each component of the vehicle system are as follows:

The main camera 101 is used to detect illumination information, forward lane line information, and forward vehicle information; the left front camera 102 is used to collect detection illumination information, forward lane line information, forward vehicle information and lateral obstacle information, and Vehicle speed information. The right front camera 103 is used to collect detection lighting information, forward lane line information, forward vehicle information and lateral obstacle information; the radar device 104 is used to collect forward vehicle information and provide the current vehicle to the automatic lane change control module Road attributes of driving; speed sensor 105, used to collect lateral/longitudinal speed; inertial sensor 106, used to collect lateral/longitudinal acceleration; steering sensor 107, used to collect steering information; brake switch sensor 108, used to collect braking information; the brake execution module 109 is used to control the vehicle to brake in response to the braking command; the steering execution module 110 is used to respond to the steering command and control the vehicle to turn; the HMI module 111 is used to output the HMI prompt command and to the central The processor transmits the driver's instruction; the central processor 112 is used to receive and store the corresponding information of the above modules, and through a series of algorithm processing procedures, determine the driver's visual impairment degree and the driver's driving pressure in the current vehicle driving environment.

Referring to FIG. 2, a flow chart of steps of an embodiment of a vehicle avoidance method of the present application is shown. The present application may be applied to the first vehicle, and the present application may specifically include the following steps:

Step 101, when it is detected that there is an opposite second vehicle within a specified range, detect the illumination brightness for the second vehicle;

The second vehicle is a vehicle traveling opposite to the first vehicle.

Whether there is a second vehicle within a specified range can be determined by a camera and/or a radar device in the in-vehicle system, and if so, one or more cameras are used to detect the brightness of the second vehicle.

The designated range may be a detection area with the first vehicle as the center and the preset monitoring distance as the radius, and the size of the monitoring distance is not limited in this application.

Step 102, when the illumination brightness reaches a preset brightness threshold, obtain the visual obstacle information corresponding to the driver in the first vehicle;

When the vehicle is driving at night, the driver generally turns on the lighting components on the head of the vehicle, including but not limited to low beam and high beam.

When the human vision is exposed to the strong light of the lighting component, the strong light may cause blindness to a certain extent. Therefore, when the brightness of the light detected for the second vehicle is greater than the preset brightness threshold, the light in the first vehicle The driver is likely to be blinded to a certain extent due to the illumination of the headlights of the second vehicle, that is, the driver may have a certain visual impairment, and information about the visual impairment of the driver in the first vehicle is obtained.

In an example, when the visual obstacle information is acquired, it is judged whether the visual obstacle information satisfies a preset condition, so as to judge whether the driver has a certain visual obstacle.

Step 103, determining the driving pressure level of the driver in the first vehicle according to the visual obstacle information;

Different degrees of visual impairment may cause different psychological pressures to drivers. Specifically, the higher the degree of visual impairment, the greater the driver's psychological pressure, and the higher the potential driving risk; the lower the degree of visual impairment, the lower the driver's psychological pressure and the lower the potential driving risk.

The driving pressure level of the driver in the first vehicle may be determined according to the acquired visual obstacle information, thereby correspondingly determining potential driving risks.

The present application does not limit the generation method of the visual impairment information.

In one example, the detection data may be generated by using the camera of the first vehicle to detect the lane line of the first vehicle, and the visual obstacle information of the driver may be determined according to the detection data.

Step 104, controlling the first vehicle to evade according to the driving pressure level.

Corresponding avoidance operations can be set for different driving pressure levels in advance. When the pressure level of the driver in the first vehicle is determined, the first vehicle is controlled to avoid according to the avoidance operation corresponding to the driving pressure level, which reduces the risk of the driver being subjected to strong pressure. Risk of driving under light exposure.

In the present application, when an opposite second vehicle is detected within a specified range, the illumination brightness of the second vehicle is detected, and when the illumination brightness reaches a preset brightness threshold, the information in the first vehicle is obtained. According to the visual obstacle information corresponding to the driver, the driving pressure level of the driver in the first vehicle is determined according to the visual obstacle information, and the first vehicle is controlled to avoid according to the driving pressure level, so as to realize the detection When the illumination brightness of the opposite second vehicle within the specified range is greater than the preset brightness threshold, the driving pressure level of the driver is determined according to the obtained visual obstacle information of the driver, and the first vehicle is controlled according to the driving pressure level to perform the operation on the second vehicle. Avoidance reduces the driving risk when the driver is exposed to strong light and causes visual obstruction and increases driving pressure, and improves the driving safety when the vehicle and the opposite vehicle meet. In particular, the driving risk in dark environments (eg, at night, spaces without lighting facilities, etc.) is increased.

In an optional embodiment of the present application, step 103 includes:

Sub-step S11, judging whether the second vehicle has entered a preset actionable distance;

The actionable distance can be preset, and the distance between the first vehicle and the second vehicle is detected to determine whether the second vehicle has entered the actionable distance, wherein the actionable distance is smaller than the monitoring distance.

The application does not limit the specific length of the actionable distance.

Sub-step S12, if the second vehicle enters the actionable distance, determine the driving pressure level of the driver in the first vehicle according to the visual obstacle information.

When the second vehicle enters the actionable distance, the driving pressure level of the driver in the first vehicle is determined according to the acquired visual obstacle information, wherein the visual obstacle information is used to represent the degree of the driver's visual obstacle.

By setting the actionable distance, it is avoided to control the vehicle to avoid prematurely when the second vehicle is at a long distance.

In an optional embodiment of the present application, step 104 includes:

Sub-step S11, if the driving pressure level is the first level, when it is detected that the steering control assembly does not turn in the opposite direction relative to the opposite vehicle and the second vehicle is in the lane where the first vehicle is located. When the avoidance space on the opposite side is safe, output confirmation avoidance request information;

If the driving pressure level is the first level, it is possible to first detect whether the steering control component (for example, the steering wheel) is steered in the opposite direction to the second vehicle, and if not, detect the opposite side of the lane where the first vehicle is located from the second vehicle. Whether the avoidance space is safe, if it is safe, output the avoidance request confirmation information.

Wherein, when the second vehicle is located on the left side of the first vehicle, it is detected whether the avoidance space on the right side of the first vehicle is safe; when the second vehicle is located on the right side of the first vehicle, the avoidance space on the left side of the first vehicle is detected. Is the space safe.

Methods to detect whether the avoidance space is safe include, but are not limited to, ultrasonics to confirm the distance of stationary obstacles, millimeter-wave radar to confirm moving obstacles, and infrared to detect pedestrians, etc.

The avoidance space may be a first range of space accessible to the first vehicle.

Sub-step S12, when receiving a confirmation operation event corresponding to the confirmation avoidance request information, generating a control instruction;

The driver can judge whether it is necessary to evade based on the avoidance confirmation request information, and the first vehicle can obtain the corresponding operation events of the driver, such as obtaining the driver's voice command, touch command, and the like. When it is detected that the operation event is a confirmation operation event, a control instruction is generated.

Sub-step S13, the first vehicle is controlled to evade according to the control instruction.

The first vehicle is controlled to avoid the second vehicle according to the control instruction.

In an optional embodiment of the present application, step 104 includes:

Sub-step S21, if the driving pressure level is the second level, when the second vehicle and the first vehicle are separated by a first avoidance distance, and the lateral distance is less than a first preset distance threshold, and the first vehicle When the avoidance space on the opposite side of the lane and the second vehicle is safe, output avoidance prompt information;

If the driving pressure level is the second level, it is detected whether the second vehicle is at a first avoidance distance from the first vehicle, and if so, the lateral distance between the first vehicle and the second vehicle is detected. When the lateral distance is less than the first preset distance threshold, it is detected whether the avoidance space on the side opposite to the second vehicle in the lane where the first vehicle is located is safe. If the avoidance space is safe, generate and output avoidance prompt information to remind the user that the avoidance is about to start.

Since the distance between the second vehicle and the first vehicle is relatively close, the avoidance function is automatically enabled first, so as to avoid the need for the driver to confirm before performing the avoidance, thereby reducing the driving risk.

Sub-step S22, generating a control instruction;

In sub-step S23, the first vehicle is controlled to evade according to the control instruction.

Sub-steps S22-S23 are similar to sub-steps S12-S13, and will not be repeated here, and the relevant parts can be referred to the description of the corresponding part.

In an optional embodiment of the present application, step 104 includes:

Sub-step S31, if the driving pressure level is the third level, when the second vehicle and the first vehicle are separated by a second avoidance distance, and the lateral distance is less than a second preset distance threshold, and the first vehicle is When the avoidance space on the side opposite to the second vehicle in the lane is safe, a control command is generated.

If the driving pressure level is the third level, it is detected whether the second vehicle is at a first avoidance distance from the first vehicle, and if so, the lateral distance between the first vehicle and the second vehicle is detected. When the lateral distance is smaller than the second preset distance threshold, it is detected whether the avoidance space on the side opposite to the second vehicle in the lane where the first vehicle is located is safe. If the avoidance space is safe, a control instruction is generated.

Wherein, the second avoidance distance is smaller than the first avoidance distance, and the second preset distance threshold is not greater than the first preset distance threshold.

Since the distance between the second vehicle and the first vehicle is very close, the avoidance function is directly and automatically activated to reduce the driving risk.

In sub-step S32, the first vehicle is controlled to evade according to the control instruction.

Sub-step S32 is similar to sub-step S13, and details are not repeated here, and the relevant parts can be referred to the description of the corresponding part.

In practical applications, corresponding control commands can be generated according to the driving pressure level. For example: when the driving pressure level is the first level, the generated control command is the first-level avoidance command; when the driving pressure level is the second level, the generated control command is the second-level avoidance command; when the driving pressure level is the third level When , the generated control instruction is a three-level avoidance instruction. According to different control commands, different degrees of avoidance control matching the driving pressure level are performed.

In an optional embodiment of the present application, the method further includes: if the driving pressure level is the fourth level, not controlling the first vehicle to evade.

When the driving pressure level is the fourth pressure level, it means that the driver can fully independently judge the driving risk and prevent accidents, and the on-board system is not used to control the first vehicle to avoid the second vehicle.

In an optional embodiment of the present application, the first vehicle is provided with a human-machine interaction component; the method further includes: when the first vehicle avoids, generating avoidance state information; using the human-machine interaction The component outputs the avoidance status information.

In an example, the human-computer interaction component may be a device in the first vehicle with a multimedia output function and an operation event collection function.

During the avoidance process of the first vehicle, avoidance state information used to characterize the avoidance process may be generated, for example, one or more of information such as: starting to avoid, in the process of avoiding, avoiding the path, and ending the avoidance.

The state of the avoidance process is displayed in the human-computer interaction component, and the driver can intuitively perceive the state of the first vehicle in the avoidance process.

In an optional embodiment of the present application, the vehicle avoidance method further includes: when a steering operation or a braking operation of a driver is detected, terminating controlling the first vehicle to avoid according to the control instruction; When a steering operation or braking operation of the driver is detected, a target avoidance position is obtained; it is judged whether the first vehicle moves to the target avoidance position; if not, the step of generating a control command is returned.

If the steering operation or braking operation of the driver for the driving of the first vehicle is detected, it indicates that the driver currently intends to avoid manually, or the driver thinks that the automatic avoidance process needs to be stopped, and then exits to control the first vehicle to avoid according to the control instruction.

When the driver's steering operation or braking operation is not detected, determine the target avoidance position for the first vehicle to avoid, if the vehicle is not currently in the target avoidance position, return to the step of generating a control command, and control the first vehicle according to the control command Make an evasion.

It should be noted that, for the sake of simple description, the method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence, because according to this application, certain steps may be performed in other sequences or concurrently. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the present application.

Referring to FIG. 3 , a structural block diagram of an embodiment of a vehicle avoidance device of the present application is shown. The present application is applied to the first vehicle, and may specifically include the following modules:

a brightness detection module 301, configured to detect illumination brightness for the second vehicle when it is detected that there is an opposite second vehicle within a specified range;

A visual obstacle information obtaining module 302, configured to obtain visual obstacle information corresponding to the driver in the first vehicle when the illumination brightness reaches a preset brightness threshold;

a driving stress level determination module 303, configured to determine the driving stress level of the driver in the first vehicle according to the visual obstacle information;

The avoidance control module 304 is configured to control the first vehicle to avoid according to the driving pressure level.

In an optional embodiment of the present application, the first vehicle is provided with a steering control assembly; the avoidance control module 304 includes:

In an optional embodiment of the present application, the avoidance control module 304 includes:

The third level processing sub-module is configured to, if the driving pressure level is the third level, when the second vehicle and the first vehicle are separated by a second avoidance distance, and the lateral distance is less than a second preset distance threshold, and When the avoidance space on the side opposite to the second vehicle in the lane where the first vehicle is located is safe, generating a control command;

The third avoidance submodule is configured to control the first vehicle to avoid according to the control instruction.

In an optional embodiment of the present application, the first vehicle is provided with a human-machine interaction component; the method further includes:

an avoidance state information generation module, configured to generate avoidance state information when the first vehicle avoids;

An avoidance state information output module is used for outputting the avoidance state information by using the human-computer interaction component.

In an optional embodiment of the present application, the device further includes:

an operation detection module, configured to terminate the control of the first vehicle to evade according to the control instruction when a steering operation or a braking operation of the driver is detected;

The target avoidance position acquisition module is used to obtain the target avoidance position when the driver's steering operation or braking operation is not detected;

A target avoidance position detection module, configured to judge whether the first vehicle moves to the target avoidance position; if not, return to the step of generating a control instruction.

In an optional embodiment of the present application, the driving pressure level determination module 303 includes:

a preset actionable distance detection module for judging whether the second vehicle enters the preset actionable distance;

The driving pressure level determination sub-module is configured to determine the driving pressure level of the driver in the first vehicle according to the visual obstacle information if the second vehicle enters the preset movable distance.

As for the apparatus embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for related parts.

The present application also provides a vehicle, comprising: a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program being executed by the processor to implement the above-mentioned vehicle avoidance method In order to avoid repetition, the details are not repeated here.

The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned vehicle avoidance method embodiment can be achieved, and the same technical effect can be achieved, which is: To avoid repetition, I will not repeat them here.

The various components of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a computing processing device according to the present application. The present application can also be implemented as an apparatus or apparatus program (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

For example, Figure 4 shows a computing processing device that can implement methods according to the present application. The computing processing device traditionally includes a processor 410 and a computer program product or computer readable medium in the form of a memory 420 . The memory 420 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. The memory 420 has storage space 430 for program code 431 for performing any of the method steps in the above-described methods. For example, storage space 430 for program code may include various program codes 431 for implementing various steps in the above methods, respectively. These program codes can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are typically portable or fixed storage units as described with reference to FIG. 8 . The storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 420 in the computing processing device of FIG. 5 . The program code may, for example, be compressed in a suitable form. Typically, the storage unit includes computer readable code 431', ie code readable by a processor such as 410, for example, which when executed by a computing processing device, causes the computing processing device to perform any of the methods described above. of the various steps.

The above only expresses several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims

A vehicle avoidance method, characterized in that, applied to a first vehicle, the method comprising:

When detecting that there is an opposite second vehicle within the specified range, detecting illumination brightness for the second vehicle;

When the illumination brightness reaches a preset brightness threshold, obtain the visual obstacle information corresponding to the driver in the first vehicle;

determining the driving stress level of the driver in the first vehicle according to the visual obstacle information;

The first vehicle is controlled to evade according to the driving pressure level.
The method according to claim 1, wherein the first vehicle is provided with a steering control assembly; the step of controlling the first vehicle to evade according to the driving pressure level comprises:

If the driving pressure level is the first level, after it is detected that the steering control assembly is not turning in the opposite direction relative to the oncoming vehicle and the first vehicle is in the lane on the opposite side of the second vehicle When the avoidance space is safe, output confirmation avoidance request information;

generating a control instruction when receiving a confirmation operation event corresponding to the confirmation avoidance request information;

The first vehicle is controlled to evade according to the control instruction.
The method according to claim 1, wherein the step of controlling the first vehicle to evade according to the driving pressure level comprises:

If the driving pressure level is the second level, when the second vehicle and the first vehicle are at a first avoidance distance, and the lateral distance is less than a first preset distance threshold, and the first vehicle is located in the lane When the avoidance space on the opposite side of the second vehicle is safe, output avoidance prompt information;

generate control instructions;

The first vehicle is controlled to evade according to the control instruction.
The method according to claim 1, wherein the step of controlling the first vehicle to evade according to the driving pressure level comprises:

If the driving pressure level is the third level, when the second vehicle and the first vehicle are separated by a second avoidance distance, and the lateral distance is less than a second preset distance threshold, and the first vehicle is located in the lane generating a control command when the avoidance space on the opposite side of the second vehicle is safe;

The first vehicle is controlled to evade according to the control instruction.
The method according to claim 3 or 4, wherein the first vehicle is provided with a human-machine interaction component; the method further comprises:

generating avoidance state information when the first vehicle avoids;

Using the human-computer interaction component to output the avoidance state information.
The method according to claim 2 or 3 or 4, characterized in that, further comprising:

When a steering operation or a braking operation of the driver is detected, stop controlling the first vehicle to evade according to the control instruction;

Obtain the target avoidance position when the driver's steering operation or braking operation is not detected;

determining whether the first vehicle has moved to the target avoidance position;

If not, return to the step of generating a control instruction.
The method according to claim 1, wherein the step of determining the driving stress level of the driver in the first vehicle according to the visual obstacle information comprises:

judging whether the second vehicle has entered a preset actionable distance;

If so, the driving stress level of the driver in the first vehicle is determined according to the visual obstacle information.
A vehicle avoidance device, characterized in that, when applied to a first vehicle, the device comprises:

a brightness detection module, configured to detect the brightness of illumination for the second vehicle when it is detected that there is an opposite second vehicle within a specified range;

a visual obstacle information acquisition module, configured to acquire visual obstacle information corresponding to the driver in the first vehicle when the illumination brightness reaches a preset brightness threshold;

a driving stress level determination module, configured to determine the driving stress level of the driver in the first vehicle according to the visual obstacle information;

An avoidance control module, configured to control the first vehicle to avoid according to the driving pressure level.
The device according to claim 8, wherein the first vehicle is provided with a steering control assembly; the avoidance control module comprises:

The first level processing sub-module is configured to, if the driving pressure level is the first level, when it is detected that the steering control assembly does not turn in the opposite direction with respect to the opposite vehicle and the lane where the first vehicle is located is the same as the lane. When the avoidance space on the opposite side of the second vehicle is safe, output confirmation avoidance request information;

a first control instruction generation sub-module, configured to generate a control instruction when receiving a confirmation operation event corresponding to the confirmation avoidance request information;

The first avoidance submodule is configured to control the first vehicle to avoid according to the control instruction.
The device according to claim 9, wherein the avoidance control module comprises:

The second level processing sub-module is configured to, if the driving pressure level is the second level, when the second vehicle and the first vehicle are separated by a first avoidance distance, and the lateral distance is less than a first preset distance threshold, and When the avoidance space on the side opposite to the second vehicle in the lane where the first vehicle is located is safe, output avoidance prompt information;

a second control instruction generation submodule for generating a control instruction;

The second avoidance sub-module is configured to control the first vehicle to avoid according to the control instruction.
A vehicle, characterized by comprising: a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program being executed by the processor to implement the method as claimed in claim 1 The steps of the vehicle avoidance method described in any one of -7.
A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the vehicle avoidance method according to any one of claims 1 to 7 is implemented A step of.