阅读说明：本技术 车辆自动跟随方法、装置、电子设备和机器可读存储介质 (Vehicle automatic following method, device, electronic equipment and machine readable storage medium ) 是由 吴昊阳 于 2021-09-16 设计创作，主要内容包括：本发明提供了一种车辆自动跟随方法、装置、电子设备和机器可读存储介质,涉及车辆驾驶的技术领域,包括：若在当前车辆前方出现目标跟随车辆,则控制提示组件工作,其中,目标跟随车辆基于当前车辆的预设跟随条件进行确定；响应于针对车辆控件的操作指令,确定针对目标跟随车辆的决策意图,其中,决策意图包括第一决策意图和第二决策意图；根据第一决策意图控制当前车辆自动跟随目标跟随车辆,根据第二决策意图控制当前车辆保持当前行驶状态,实现较为安全可靠的车辆自动跟随效果。(The invention provides a vehicle automatic following method, a device, electronic equipment and a machine readable storage medium, which relate to the technical field of vehicle driving and comprise the following steps: if a target following vehicle appears in front of the current vehicle, controlling the prompt component to work, wherein the target following vehicle is determined based on the preset following condition of the current vehicle; determining a decision intention for the target following vehicle in response to an operating instruction for the vehicle control, wherein the decision intention comprises a first decision intention and a second decision intention; and controlling the current vehicle to automatically follow the target following vehicle according to the first decision intention, and controlling the current vehicle to keep a current running state according to the second decision intention, so that a safer and more reliable vehicle automatic following effect is realized.)

1. A vehicle automatic following method, characterized in that the method comprises:

if a target following vehicle appears in front of the current vehicle, controlling a prompt component to work, wherein the target following vehicle is determined based on a preset following condition of the current vehicle;

determining a decision intent for the target following vehicle in response to an operating instruction for a vehicle control, wherein the decision intent comprises a first decision intent and a second decision intent;

controlling the current vehicle to automatically follow the target following vehicle according to the first decision intention;

and controlling the current vehicle to keep the current running state according to the second decision intention.

2. The method of claim 1, wherein the step of controlling operation of the prompting assembly if the target following vehicle appears ahead of the current vehicle comprises:

acquiring vehicle data of a vehicle traveling ahead of a current vehicle, wherein the vehicle data includes one or more of: a travel speed, a travel destination, a travel route, and a vehicle type;

judging whether a target following vehicle exists in the front running vehicle or not based on preset following conditions of the current vehicle and the vehicle data, wherein the preset following conditions are set according to the vehicle speed and the running destination of the current vehicle;

and if so, controlling the prompt component to remind the user in a vibration mode, a sound production mode and/or a light emitting mode.

3. The method of claim 1, further comprising:

when the current vehicle automatically follows the target following vehicle, if an obstacle vehicle appears before the current vehicle and the target following vehicle, controlling a prompt component to work;

determining a third decision intent for the target following vehicle in response to a third operational instruction for a vehicle control;

and according to the third decision intention, stopping automatic following operation and switching the road or controlling the current vehicle to keep the current driving state.

4. The method of claim 1, further comprising:

when the current vehicle automatically follows a first target following vehicle, if a second target following vehicle appears in front of the current vehicle, controlling a prompt component to work;

in response to a fourth operational instruction for a vehicle control, determining a fourth decision intent for the first target following vehicle and the second target following vehicle, respectively;

in accordance with the fourth decision intent, either the automatic following operation of the first target following vehicle is terminated and the second target following vehicle is automatically followed, or the automatic following state of the first target following vehicle is maintained and the second target following vehicle is ignored.

5. The method according to any one of claims 1-4, further comprising:

if the prompting component works for a preset time length and the decision intention aiming at the target following vehicle is not determined, determining a safe position according to the running position and the road condition information of the current vehicle, and controlling the current vehicle to automatically plan a route to run to the safe position for parking according to the road condition information, wherein the safe position is a parking point which is closest to the current vehicle or is reached fastest.

6. The method of claim 2, further comprising:

issuing a preset following condition of a current vehicle, and determining a lead vehicle, wherein the lead vehicle is a vehicle which responds to an operation instruction of a driver of the lead vehicle and runs according to the preset following condition;

and determining the guidance intention of the current vehicle according to the guidance instruction sent by the guidance vehicle, and controlling the current vehicle to automatically follow the guidance vehicle.

7. The method of claim 1, further comprising:

when the current vehicle automatically follows the target following vehicle, vehicle data of the target following vehicle are acquired in real time;

and controlling the current vehicle to carry out corresponding driving operation according to the vehicle data.

8. A vehicle automatic following device, characterized in that the device comprises:

the prompting module is used for controlling a prompting component to work when a target following vehicle appears in front of the current vehicle, wherein the target following vehicle is determined based on a preset following condition of the current vehicle;

a determination module, configured to determine a decision intent for the target following vehicle in response to an operation instruction for a vehicle control, where the decision intent includes a first decision intent and a second decision intent;

and the following module is used for controlling the current vehicle to automatically follow the target following vehicle according to the first decision intention and controlling the current vehicle to keep a current running state according to the second decision intention.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and wherein the processor implements the steps of the method of any of claims 1 to 7 when executing the computer program.

10. A machine-readable storage medium having stored thereon machine-executable instructions which, when invoked and executed by a processor, cause the processor to carry out the steps of the method of any one of claims 1 to 7.

Technical Field

The present invention relates to the field of vehicle driving technologies, and in particular, to a method and an apparatus for automatically following a vehicle, an electronic device, and a machine-readable storage medium.

Background

With the development of vehicle driving technology, an Advanced Driver Assistance (ADAS) has been widely used.

However, since the driving scene of the vehicle is complex and changeable, in some specific application scenes, such as the vehicle following scene, the driving assistance system is used for realizing the automatic following of the vehicle, the driving reliability of the vehicle is poor, and the driving safety of a user cannot be ensured.

Disclosure of Invention

In view of the above, the present invention provides a method, an apparatus, an electronic device and a machine-readable storage medium for automatically following a vehicle, so as to alleviate the above technical problems and achieve a safer and more reliable vehicle automatic following effect.

In a first aspect, an embodiment provides a vehicle automatic following method, including:

if a target following vehicle appears in front of the current vehicle, controlling a prompt component to work, wherein the target following vehicle is determined based on a preset following condition of the current vehicle;

determining a decision intent for the target following vehicle in response to an operating instruction for a vehicle control, wherein the decision intent comprises a first decision intent and a second decision intent;

controlling the current vehicle to automatically follow the target following vehicle according to the first decision intention;

and controlling the current vehicle to keep the current running state according to the second decision intention.

In an alternative embodiment, if the target following vehicle appears ahead of the current vehicle, the step of controlling the prompting component to work comprises the following steps:

acquiring vehicle data of a vehicle traveling ahead of a current vehicle, wherein the vehicle data includes one or more of: a travel speed, a travel destination, a travel route, and a vehicle type;

judging whether a target following vehicle exists in the front running vehicle or not based on preset following conditions of the current vehicle and the vehicle data, wherein the preset following conditions are set according to the vehicle speed and the running destination of the current vehicle;

and if so, controlling the prompt component to remind the user in a vibration mode, a sound production mode and/or a light emitting mode.

In an alternative embodiment, the method further comprises:

when the current vehicle automatically follows the target following vehicle, if an obstacle vehicle appears before the current vehicle and the target following vehicle, controlling a prompt component to work;

determining a third decision intent for the target following vehicle in response to a third operational instruction for a vehicle control;

and according to the third decision intention, stopping automatic following operation and switching the road or controlling the current vehicle to keep the current driving state.

In an alternative embodiment, the method further comprises:

when the current vehicle automatically follows a first target following vehicle, if a second target following vehicle appears in front of the current vehicle, controlling a prompt component to work;

in response to a fourth operational instruction for a vehicle control, determining a fourth decision intent for the first target following vehicle and the second target following vehicle, respectively;

in accordance with the fourth decision intent, either the automatic following operation of the first target following vehicle is terminated and the second target following vehicle is automatically followed, or the automatic following state of the first target following vehicle is maintained and the second target following vehicle is ignored.

In an alternative embodiment, the method further comprises:

if the prompting component works for a preset time length and the decision intention aiming at the target following vehicle is not determined, determining a safe position according to the running position and the road condition information of the current vehicle, and controlling the current vehicle to automatically plan a route to run to the safe position for parking according to the road condition information, wherein the safe position is a parking point which is closest to the current vehicle or is reached fastest.

In an alternative embodiment, the method further comprises:

issuing a preset following condition of a current vehicle, and determining a lead vehicle, wherein the lead vehicle is a vehicle which responds to an operation instruction of a driver of the lead vehicle and runs according to the preset following condition;

and determining the guidance intention of the current vehicle according to the guidance instruction sent by the guidance vehicle, and controlling the current vehicle to automatically follow the guidance vehicle.

In an alternative embodiment, the method further comprises:

when the current vehicle automatically follows the target following vehicle, vehicle data of the target following vehicle are acquired in real time;

and controlling the current vehicle to carry out corresponding driving operation according to the vehicle data.

In a second aspect, embodiments provide a vehicle automatic following device, the device comprising:

the prompting module is used for controlling a prompting component to work when a target following vehicle appears in front of the current vehicle, wherein the target following vehicle is determined based on a preset following condition of the current vehicle;

a determination module, configured to determine a decision intent for the target following vehicle in response to an operation instruction for a vehicle control, where the decision intent includes a first decision intent and a second decision intent;

and the following module is used for controlling the current vehicle to automatically follow the target following vehicle according to the first decision intention and controlling the current vehicle to keep a current running state according to the second decision intention.

In a third aspect, an embodiment provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the method described in any one of the foregoing embodiments when executing the computer program.

In a fourth aspect, embodiments provide a machine-readable storage medium having stored thereon machine-executable instructions that, when invoked and executed by a processor, cause the processor to carry out the steps of the method of any preceding embodiment.

According to the automatic vehicle following method, the automatic vehicle following device, the electronic equipment and the machine-readable storage medium, when a target following vehicle meeting preset following conditions appears in a front party, a user is prompted to know that the user inputs an operation instruction capable of representing decision intention of the target following vehicle, and the vehicle can realize automatic vehicle following operation under the action of a driving auxiliary system according to the operation instruction, so that the purpose of reliable automatic vehicle following is realized.

Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.

In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

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

FIG. 1 is a flow chart of a method for automatically following a vehicle according to an embodiment of the present invention;

FIG. 2 is a functional block diagram of an automatic vehicle following device according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a hardware architecture of an electronic device according to an embodiment of the present invention.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

With the widespread application of vehicle driving assistance systems, vehicle automatic following is currently generally achieved through an adaptive cruise control manner of a vehicle. However, the inventor researches and finds that the safety and reliability of the method are poor, the self-following operation is realized through the control decision of the vehicle, and the finally-followed target vehicle may not meet the requirements of the user, or the current road condition and vehicle condition are not suitable for the automatic vehicle-following operation.

Based on the above, the vehicle automatic following method, the vehicle automatic following device, the electronic equipment and the machine readable storage medium provided by the embodiment of the invention realize a safer and more reliable vehicle automatic following effect.

For the convenience of understanding the embodiment, a detailed description will be first given of a vehicle automatic following method disclosed in an embodiment of the present invention, and a current vehicle applied in the embodiment of the present invention is provided with a driving assistance system, and the method is applicable to an onboard controller.

Fig. 1 is a flowchart of a method for automatically following a vehicle according to an embodiment of the present invention.

As shown in fig. 1, the method comprises the steps of:

and step S102, if a target following vehicle appears in front of the current vehicle, controlling a prompting component to work.

Wherein the target following vehicle is determined based on a preset following condition of the current vehicle. For example, the user may set a following condition required to be provided by the target following vehicle in advance, for example, a vehicle driving from city a to city B, which is the target following vehicle if the vehicle driving from city a to city B is driven ahead of the current vehicle.

It will be appreciated that the prompting component is operative to alert the user so that the user can be made aware that a target following vehicle has occurred ahead of the current vehicle.

And step S104, responding to an operation instruction for the vehicle control, and determining a decision intention for the target following vehicle, wherein the decision intention comprises a first decision intention and a second decision intention.

It should be noted that, when the user knows that the target following vehicle appears ahead, a corresponding operation instruction may be input based on the vehicle control, so that the on-board controller can learn the decision intention of the current user for the target following vehicle.

And S106, controlling the current vehicle to automatically follow the target to follow the vehicle according to the first decision intention.

For example, if the first decision intention is to agree to follow, the vehicle automatically performs a follow-up operation based on its driving assistance system.

In some embodiments, the decision-making intent further includes a second decision-making intent from which different control of the current vehicle may be implemented to meet varying vehicle driving scenarios. As an example, the following steps may also be included:

and S108, controlling the current vehicle to keep the current running state according to the second decision intention.

For example, the user may consider that the current vehicle condition or road condition is not suitable for following the vehicle, or that the target following vehicle does not satisfy the psychological expectation thereof, and then input an operation instruction representing a second decision intention for rejecting following the vehicle, so as to control the current vehicle to continue to maintain the current driving state, such as to continue driving forwards.

In a preferred embodiment of practical application, when a target following vehicle meeting a preset following condition appears at a front side, a user is prompted to know that the user inputs an operation instruction capable of representing a decision intention for the target following vehicle, and the vehicle can realize automatic vehicle following operation under the action of a driving assistance system according to the operation instruction. The aim of automatically following the vehicle with safety and reliability is fulfilled by combining manual decision and driving assistance.

In some embodiments, the target following vehicle may be accurately determined based on the preset following condition and the vehicle data of the vehicle ahead of the current vehicle, so as to ensure the reliability of the prompting operation, and step S102 may be further implemented by the following steps, specifically including:

step 1.1), vehicle data of a vehicle running in front of the current vehicle are acquired, wherein the vehicle data comprise one or more of the following: travel speed, travel destination, travel route, and vehicle type, among others.

It can be understood that various vehicle data of the vehicle running in front of the current vehicle can be acquired through the vision device, the sensing device, the geomagnetic device and/or the internet-of-vehicles platform. The vehicle data of the preceding vehicle C obtained by the above-described apparatus includes, for example, a traveling speed of 30km/h, a destination of the traveling being a city B, a traveling route being a highway, and a type of vehicle being a bus.

And step 1.2), judging whether a target following vehicle exists in the front running vehicle or not based on the preset following condition of the current vehicle and the vehicle data, wherein the preset following condition is set according to the vehicle speed and the running destination of the current vehicle.

For example, the preset following condition may be set to city B according to the traveling destination of the current vehicle, and the target following vehicle speed may be set not higher than 40km/h according to the traveling speed of the current vehicle.

And step 1.3), if the current vehicle exists, controlling a prompt component of the current vehicle to work.

It is understood that, if the vehicle data of the vehicle C can satisfy the preset following condition, the vehicle C is determined as the target following vehicle, and the prompting component is controlled to operate.

And 1.4), if the current time does not exist, the prompting component is not controlled to work.

As an alternative embodiment, if there is no target following vehicle meeting the preset following condition in front at this time, the preset following condition may be adjusted accordingly. For example, the respective preset following conditions may be sorted by priority, and a vehicle that satisfies the preset following conditions may be determined as the target following vehicle. For another example, the content corresponding to each preset following condition may be changed, and the original preset following condition driving destination may be adjusted to the driving starting location, and so on.

In some embodiments, the prompting component may be disposed on a steering wheel, and the step of controlling the operation of the prompting component of the current vehicle in step S102 may further include:

and 2.1) controlling the prompt component to remind a user in a vibration mode, a sound production mode and/or a light emitting mode.

For example, the prompting component may prompt the user by vibrating, sounding, and/or illuminating to make the user aware that the target following vehicle is present ahead for the user to make a decision.

It is understood that the prompting component may also be disposed at other positions in the vehicle, such as a seat or a front windshield, for prompting the user through temperature change or displaying an image, and the like, and is not limited to the prompting manner described above, and may be used to prompt the user in a corresponding manner, which is not described herein again.

In some embodiments, the vehicle control further includes a steering wheel, and the user may input an operation thereof through the steering wheel, so that the vehicle can know a current decision-making intention of the user, and step S104 in the above embodiments may be implemented by the following steps, specifically including:

step 3.1), in response to a first operating instruction for left-hand rotation of the steering wheel, determining a first decision intent for the target following vehicle.

Step 3.2), in response to a second operating instruction for right-hand rotation of the steering wheel, a second decision intention for the target following vehicle is determined.

It should be noted that, a user can input a specific operation instruction according to a corresponding operation on a vehicle control, and as a preferred embodiment, the input can be realized by rotating a steering wheel in a corresponding direction, so that the operation of the user is facilitated, the driving of the user is not affected, and the safety is guaranteed.

It can be understood that the vehicle control may also include other control forms, such as a touch device of a vehicle machine, an intelligent terminal connected to the vehicle machine, a voice input device, and the like, which are not limited herein, and may be implemented as an operation instruction input function of a user.

Further, in some embodiments, the above steps may further include, in response to the first operational instruction for right-hand rotation of the steering wheel, determining a first decision intent for the target following vehicle. In response to a second operational instruction for left-hand rotation of the steering wheel, a second decision intent for the target following vehicle is determined.

In some embodiments, if an obstacle vehicle suddenly appears in front of a vehicle currently in an automatic following state, a safe obstacle avoidance operation can be implemented according to a user decision to ensure driving safety, and the method further comprises the following steps:

and 4.1) when the current vehicle automatically follows the target following vehicle, if an obstacle vehicle appears before the current vehicle and the target following vehicle, controlling the prompt component to work.

It should be noted that, when an obstacle vehicle is jammed during the automatic following process, the prompting component may be the same as the prompting component in step S102, that is, the prompting component may be a prompting component disposed on the steering wheel. In another embodiment, the prompting component may also be different from the prompting component in the previous step, that is, when a target following vehicle appears at the front, the prompting function a of the prompting component 1 may be controlled, and when an obstacle vehicle appears between the current vehicle and the target following vehicle in the automatic following process, the prompting function a or B of the prompting component 2 may be controlled.

And 4.2) responding to a third operation instruction for the vehicle control, and determining a third decision intention for the target following vehicle.

It is understood that the user makes a decision on the current vehicle operation to ensure safety reliability based on the vehicle condition data of the current vehicle including the traveling speed of the current vehicle, the distance from the traveling destination, and the like, and the vehicle data of the preceding obstacle vehicle and the target following vehicle. The vehicle data and the vehicle condition data may be displayed by a Head Up Display (hud). The head-up display system projects important driving information such as speed per hour, navigation and the like onto a windshield in front of a driver, so that the driver can see the important driving information such as speed per hour, navigation and the like without lowering head or turning head as much as possible.

And 4.3) according to the third decision intention, terminating the automatic following operation and switching the track to run or controlling the current vehicle to keep the current running state.

It should be noted that, in the embodiment of the present invention, a driver makes a corresponding decision according to the vehicle data, and a vehicle having a driving assistance system can make a more complex and accurate control process according to the decision of the driver, so as to implement safe and reliable driving. For example, if an obstacle vehicle appears in front of the current vehicle, the user obtains a lane change and overtaking decision according to the obstacle vehicle and the vehicle condition of the current vehicle, and the current vehicle realizes the overtaking intention through combined actions of steering, accelerating, lane keeping, correcting and decelerating under the action of a driving assistance function based on the decision intention of the user.

In practical applications, embodiments of the present invention may also determine which target to follow the vehicle by user decision. If the current vehicle is traveling to destination D, the user may select a bus leading from origin F to destination D that follows the forward travel. For the bus, the bus has an accurate destination target and a fixed running route, and the running speed of the bus is stable, so that the following running safety of the current bus is ensured. As an alternative embodiment, the target following vehicle may send a following instruction to the current vehicle, the current vehicle controls the prompt component to work based on the following instruction, and the driver of the current vehicle inputs an operation instruction for the vehicle control according to the prompt, so that the current vehicle determines whether the target following vehicle can actively pilot the approach. As another alternative, if the target following vehicle is about to deviate from the original driving route, route change information may be sent to the current vehicle, the current vehicle controls the prompt component to operate based on the route change information, and the driver of the current vehicle inputs an operation instruction for a vehicle control according to the prompt, so that the current vehicle determines whether to continue to follow the target following vehicle.

Alternatively, the following steps may also be performed:

and 4.4) when the current vehicle automatically follows the first target following vehicle, if a second target following vehicle appears in front of the current vehicle, controlling the prompt component to work.

The second target following vehicle can be understood as a following target which is more in line with the user requirement (has a higher matching degree with the preset following condition) relative to the first target following vehicle.

And 4.5) responding to a fourth operation instruction aiming at the vehicle control, and determining a fourth decision intention aiming at the first target following vehicle and the second target following vehicle respectively.

And 4.6) according to the fourth decision intention, terminating the automatic following operation of the first target following vehicle and automatically following the second target following vehicle, or keeping the automatic following state of the first target following vehicle and ignoring the second target following vehicle.

For example, if the second target following vehicle is a travel bus of a specific route and has a safer and more stable following effect than the currently following first target following vehicle, the user controls the vehicle control to indicate a fourth decision intention, terminates the automatic following operation on the first target following vehicle and automatically follows the second target following vehicle, and if the current second target following vehicle has a higher vehicle speed and the current vehicle condition cannot be met or is currently about to reach the driving destination, the user may control the vehicle control to indicate the fourth decision intention, maintain the current automatic following operation, and ignore the second target following vehicle.

In some embodiments, if the prompt component works for a preset time and the decision intention for the target following vehicle is not determined, a safety position is determined according to the driving position and the road condition information of the current vehicle, and the current vehicle is controlled to automatically plan a route to be driven to the safety position for parking according to the road condition information, wherein the safety position is a parking point which is closest to the current vehicle or is reached fastest.

Illustratively, if a driver of a current vehicle is fatigued or vertigo occurs, and a corresponding vehicle following decision is not made in time after prompting, at the moment, the current vehicle can control the prompting component to perform second prompting, if the user does not make a decision after the second prompting, the current vehicle can analyze the driving position and road condition information of the current vehicle according to an auxiliary driving system, determine a safety position which is closest to the current vehicle or can be reached at the fastest speed, and autonomously drive the vehicle to reach the safety position on a road with smaller traffic flow or a preferred shortest route according to the traffic flow condition of the road, so as to ensure the safety of the driver. Wherein the safe location may be, for example, a service area of a highway, a parking space beside a road, etc.

As an optional embodiment, in the driving platform, the vehicle may perform piloting and guidance, so that a driver of a following vehicle can reach a destination without operation under a relatively uncomfortable condition, thereby ensuring driving safety, for example, issuing a preset following condition of a current vehicle, and determining a guidance vehicle, wherein the guidance vehicle is a vehicle that runs according to the preset following condition in response to an operation instruction of the driver of the guidance vehicle; and determining the guidance intention of the current vehicle according to the guidance instruction sent by the guidance vehicle, and controlling the current vehicle to automatically follow the guidance vehicle.

It should be noted that the current vehicle issues information such as the current driving position, the driving destination, and the driving speed of the current vehicle to the platform, and the user can know the following needs of the current vehicle and select the order taking by combining the self situation. If the user A is driven to pick up the order, the vehicle of the user A is a guiding vehicle, the platform informs the current vehicle of the order pick-up of the guiding vehicle and corresponding information of the guiding vehicle, if the guiding vehicle runs near or in front of the current vehicle, the user A inputs a corresponding instruction, the guiding vehicle sends the guiding instruction to the current vehicle, the current vehicle knows the guiding intention of the guiding vehicle based on the guiding instruction, and the guiding vehicle is automatically followed without the need of the driver of the current vehicle to participate in the following decision.

In some embodiments, based on the foregoing step 4.3), if the current vehicle is in the automatic following state, the current vehicle not only follows the traveling route of the vehicle according to the target, but also follows the traveling operation of the target following vehicle, and the method further includes:

and 5.1) when the current vehicle automatically follows the target following vehicle, acquiring the vehicle data of the target following vehicle in real time.

And 5.2) controlling the current vehicle to carry out corresponding driving operation according to the vehicle data.

For example, if the target following vehicle of the current vehicle is the aforementioned public bus, the target following vehicle follows the operation of stepping on the brake and the like according to the running speed of the public bus, so that the driving pressure of the driver of the user is relieved, and the user can be helped to safely reach the running destination D more reliably. It should be noted that the embodiment of the present invention can also be used in a fleet, and the vehicle belonging to the fleet group can safely follow the vehicle to the destination only by following any vehicle in the fleet in front.

The embodiment of the invention can manually select the following target vehicles, such as vehicles in a fleet, tourism buses, buses and the like with specific routes, so that users do not need to worry about crossing by mistake, and the drivers of the users are more reassured.

As shown in fig. 2, an embodiment of the present invention further provides a vehicle automatic following apparatus 200, including:

the prompting module 201 is used for controlling a prompting component to work when a target following vehicle appears in front of a current vehicle, wherein the target following vehicle is determined based on a preset following condition of the current vehicle;

a determining module 202, configured to determine a decision intention for the target following vehicle in response to an operation instruction for a vehicle control, where the decision intention includes a first decision intention and a second decision intention;

and the following module 203 is used for controlling the current vehicle to automatically follow the target following vehicle according to the first decision intention and controlling the current vehicle to keep a current running state according to the second decision intention.

In some embodiments, the decision-making intent comprises a second decision-making intent, following block 203, further specifically configured to control the current vehicle to maintain the current driving state according to the second decision-making intent.

In some embodiments, the prompting module 201 is further specifically configured to obtain vehicle data of a vehicle traveling ahead of the current vehicle, where the vehicle data includes one or more of the following: a travel speed, a travel destination, a travel route, and a vehicle type; judging whether a target following vehicle exists in the front running vehicle or not based on preset following conditions of the current vehicle and the vehicle data, wherein the preset following conditions are set according to the vehicle speed and the running destination of the current vehicle; and if so, controlling the prompt component of the current vehicle to work.

In some embodiments, the prompting component is disposed on a steering wheel, and the prompting module 201 is further specifically configured to control the prompting component to remind a user in a vibration mode, a sound emitting mode, and/or a light emitting mode.

In some embodiments, the vehicle control comprises a steering wheel, the determining module 202 is further specifically configured to determine a first decision intent for the target following vehicle in response to a first operational instruction for left rotation of the steering wheel; determining a second decision intent for the target following vehicle in response to a second operational instruction for right-hand rotation of the steering wheel.

In some embodiments, the following module 203 is further specifically configured to, when the current vehicle automatically follows the target following vehicle, control a prompt component to operate if an obstacle vehicle occurs before the current vehicle and the target following vehicle; determining a third decision intent for the target following vehicle in response to a third operational instruction for a vehicle control; and according to the third decision intention, stopping automatic following operation and switching the road or controlling the current vehicle to keep the current driving state.

In some embodiments, the following module 203 is further specifically configured to, when the current vehicle automatically follows the first target following vehicle, control the prompting component to operate if a second target following vehicle appears in front of the current vehicle; in response to a fourth operational instruction for a vehicle control, determining a fourth decision intent for the first target following vehicle and the second target following vehicle, respectively; in accordance with the fourth decision intent, either the automatic following operation of the first target following vehicle is terminated and the second target following vehicle is automatically followed, or the automatic following state of the first target following vehicle is maintained and the second target following vehicle is ignored.

In some embodiments, the following module 203 is further specifically configured to, if the prompt component has been operated for a preset time and the decision intention for the target following vehicle is not determined, determine a safe position according to a driving position of the current vehicle and road condition information, and control the current vehicle to automatically plan a route to drive to the safe position for parking according to the road condition information, where the safe position is a parking point where the current vehicle is closest to or fastest to reach.

In some embodiments, the following module 203 is further specifically configured to issue a preset following condition of the current vehicle, and determine a lead vehicle, where the lead vehicle is a vehicle that runs according to the preset following condition in response to an operation instruction of a driver of the lead vehicle; and determining the guidance intention of the current vehicle according to the guidance instruction sent by the guidance vehicle, and controlling the current vehicle to automatically follow the guidance vehicle. In some embodiments, the following module 203 is further specifically configured to obtain vehicle data of the target following vehicle in real time when the current vehicle automatically follows the target following vehicle; and controlling the current vehicle to carry out corresponding driving operation according to the vehicle data.

Fig. 3 is a schematic hardware architecture diagram of an electronic device 300 according to an embodiment of the present invention. Referring to fig. 3, the electronic device 300 includes: a machine-readable storage medium 301 and a processor 302, and may further include a non-volatile storage medium 303, a communication interface 304, and a bus 305; among other things, the machine-readable storage medium 301, the processor 302, the non-volatile storage medium 303, and the communication interface 304 communicate with each other via a bus 305. The processor 302 may perform the vehicle auto-following method described in the above embodiments by reading and executing machine executable instructions of the vehicle auto-following in the machine readable storage medium 301.

A machine-readable storage medium as referred to herein may be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: a RAM (random Access Memory), a volatile Memory, a non-volatile Memory, a flash Memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., an optical disk, a dvd, etc.), or similar storage medium, or a combination thereof.

The non-volatile medium may be non-volatile memory, flash memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., an optical disk, dvd, etc.), or similar non-volatile storage medium, or a combination thereof.

It can be understood that, for the specific operation method of each functional module in this embodiment, reference may be made to the detailed description of the corresponding step in the foregoing method embodiment, and no repeated description is provided herein.

The computer-readable storage medium provided in the embodiments of the present invention stores a computer program, and when executed, the computer program code may implement the vehicle automatic following method according to any of the embodiments described above, and specific implementation may refer to the method embodiments, and details are not described herein.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.