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CN-121982884-A - Method for determining a plugged vehicle, processor and program product

CN121982884ACN 121982884 ACN121982884 ACN 121982884ACN-121982884-A

Abstract

The application discloses a method for determining a plugged vehicle, a processor and a program product. The method comprises the steps of acquiring a plurality of sensing data acquired by a plurality of sensors in the vehicle in the current running process of the vehicle. And determining the target plugging vehicle from at least one vehicle to be plugged based on the target running data, wherein the success rate of cutting in the vehicle to the lane where the target plugging vehicle is located is greater than the success rate of cutting in the vehicles to be plugged except the target plugging vehicle in the at least one vehicle to be plugged. The method and the device solve the technical problem of low accuracy of determining the plugged vehicle.

Inventors

  • CAO WENXUAN
  • WU WEIWEI
  • GAO ZELEI

Assignees

  • 一汽奔腾汽车股份有限公司

Dates

Publication Date
20260505
Application Date
20260114

Claims (10)

  1. 1. A method of determining a plugged vehicle, comprising: In the current running process of a vehicle, acquiring a plurality of sensing data acquired by a plurality of sensors in the vehicle, wherein the sensing data are used for representing the initial running state of at least one vehicle to be plugged in the current running process, and at least one vehicle to be plugged is positioned behind the vehicle; predicting a plurality of the perceived data to obtain target running data of the vehicle to be plugged in a future running process, wherein the target running data are used for representing a target running state of the vehicle to be plugged in the future running process; And determining a target plugging vehicle from at least one vehicle to be plugged based on the target driving data, wherein the success rate of cutting in the vehicle to a lane where the target plugging vehicle is located is larger than the success rate of cutting in the vehicles to be plugged except the target plugging vehicle in at least one vehicle to be plugged.
  2. 2. The method of claim 1, wherein said determining a target vehicle for plugging from at least one of said vehicles for plugging based on said target travel data comprises: Determining a relative distance between the vehicle to be plugged and the vehicle in the future driving process based on the target driving data; Determining the vehicle to be plugged as the initial vehicle to be plugged in response to the relative distance being greater than a safe distance threshold; determining the plugging friendliness corresponding to the initial vehicle to be plugged, wherein the plugging friendliness is related to the cut-in success rate; And screening the target plugging vehicle from at least one initial vehicle to be plugged by utilizing the plugging friendliness.
  3. 3. The method of claim 2, wherein the determining the corresponding plugging friendliness of the initial vehicle to be plugged comprises: Converting the target driving data of the initial vehicle to be plugged to obtain the relative speed between the initial vehicle to be plugged and the vehicle; obtaining a first friendliness factor corresponding to the initial vehicle to be plugged based on the relative distance, the relative speed and the target driving data, wherein the first friendliness factor is related to the target movement state of the initial vehicle to be plugged; The pack-off friendliness is determined based on the first friendliness factor.
  4. 4. A method according to claim 3, wherein said determining said tucking friendliness based on said first friendliness factor comprises: Determining a willingness to yield matched with the driving intention data in response to monitoring the driving intention data of the initial vehicle to be plugged; determining a second friendliness factor corresponding to the initial vehicle to be plugged based on the yield willingness, the target driving data and the relative distance, wherein the second friendliness factor is used for representing the yield intention of the initial vehicle to be plugged; and weighting the first friendliness factor and the second friendliness factor to obtain the plugging friendliness.
  5. 5. The method of claim 4, wherein the determining the tucking friendliness based on the first friendliness factor comprises: in response to the driving intention data not being detected, determining the second friendliness factor corresponding to the initial vehicle to be plugged based on the target driving data of the initial vehicle to be plugged and the relative distance; and weighting the first friendliness factor and the second friendliness factor to obtain the plugging friendliness.
  6. 6. The method of claim 2, wherein said screening said target plugging vehicle from at least one of said initial vehicles to be plugged using said plugging friendliness comprises: Screening at least one initial vehicle to be plugged by using at least one plugging friendliness and a friendliness threshold corresponding to the at least one initial vehicle to be plugged; And determining the screened at least one initial vehicle to be plugged with highest plugging friendliness as the target vehicle to be plugged.
  7. 7. The method according to any one of claims 1 to 6, further comprising: And controlling a display module in the vehicle, displaying the target plugging vehicle according to the display requirement, and outputting prompt information, wherein the prompt information is used for prompting the target plugging vehicle to be plugged.
  8. 8. A vehicle, characterized by being adapted to perform the method of any one of claims 1 to 7.
  9. 9. A processor for running a program, wherein the program when run by the processor performs the method of any one of claims 1 to 7.
  10. 10. A computer program product comprising computer instructions which, when executed by a processor, implement the method of any one of claims 1 to 7.

Description

Method for determining a plugged vehicle, processor and program product Technical Field The present application relates to the field of vehicle control, and in particular to a method for determining a plugged vehicle, a processor and a program product. Background Currently, for a driving assistance system, a complete lane changing action is automatically executed after a sufficiently safe space exists in a target lane is judged based on sensors such as a camera, a millimeter wave radar, a laser radar and the like. However, the method can only provide dangerous vehicle alarming, can not provide decisions for a driver in complex dynamic games, and has the technical problem of low accuracy in determining the plugged vehicle. In view of the above problems, no effective solution has been proposed at present. Disclosure of Invention The embodiment of the application provides a method for determining a plugged vehicle, the vehicle, a processor and a program product, which are used for at least solving the technical problem of low accuracy in determining the plugged vehicle. According to one aspect of an embodiment of the present application, a method for determining a plugged vehicle is provided. The method comprises the steps of obtaining a plurality of sensing data acquired by a plurality of sensors in a vehicle in the current running process of the vehicle, wherein the sensing data are used for representing initial running states of at least one vehicle to be plugged in the current running process, the at least one vehicle to be plugged is located behind the vehicle, predicting the plurality of sensing data to obtain target running data of the vehicle to be plugged in the future running process, wherein the target running data are used for representing target running states of the vehicle to be plugged in the future running process, and determining the target vehicle to be plugged from the at least one vehicle to be plugged based on the target running data, wherein the cutting success rate of the vehicle cutting into lanes where the target vehicle to be plugged is larger than the cutting success rate of vehicles to be plugged except the target vehicle in the at least one vehicle to be plugged. The method comprises the steps of determining a target plugging vehicle from at least one vehicle to be plugged, determining the relative distance between the vehicle to be plugged and the vehicle in the future running process based on target running data, determining the vehicle to be plugged as an initial vehicle to be plugged in response to the relative distance being larger than a safety distance threshold value, determining the plugging friendliness corresponding to the initial vehicle to be plugged, wherein the plugging friendliness is related to a cutting success rate, and screening out the target vehicle to be plugged from at least one initial vehicle to be plugged by utilizing the plugging friendliness. Optionally, determining the plugging friendliness corresponding to the initial vehicle to be plugged comprises converting target running data of the initial vehicle to be plugged to obtain relative speed between the initial vehicle to be plugged and the vehicle, obtaining a first friendliness factor corresponding to the initial vehicle to be plugged based on the relative distance, the relative speed and the target running data, wherein the first friendliness factor is related to a target moving state of the initial vehicle to be plugged, and determining the plugging friendliness based on the first friendliness factor. Optionally, based on the first friendliness factor, determining the plugging friendliness comprises determining a yield intention matched with driving intention data in response to monitoring of driving intention data of an initial vehicle to be plugged, determining a second friendliness factor corresponding to the initial vehicle to be plugged based on the yield intention, target driving data and relative distance, wherein the second friendliness factor is used for representing the yield intention of the initial vehicle to be plugged, and weighting the first and second friendliness factors to obtain the plugging friendliness. Optionally, determining the plugging friendliness based on the first friendliness factor comprises determining a second friendliness factor corresponding to the initial vehicle to be plugged based on target driving data of the initial vehicle to be plugged and the relative distance in response to the fact that driving intention data are not detected, and weighting the first and second friendliness factors to obtain the plugging friendliness. Optionally, screening out target plugging vehicles from at least one initial to-be-plugged vehicle by using the plugging friendliness, wherein the screening of the at least one initial to-be-plugged vehicle is performed by using at least one plugging friendliness corresponding to the at least one initial to-be-plugged vehicle and a friendli