CN115158318A - Intelligent driving control method and system for bus station - Google Patents

Abstract

The invention relates to an intelligent driving control method and system for a bus stop. The intelligent driving control method includes: a vehicle detects that there is a bus stop within a set range ahead and that there is a stationary or waiting bus in the bus stop When driving, judge whether the vehicle can change lanes to the lane away from the bus stop side; if yes, make the vehicle change lanes to the lane away from the bus stop side and then adopt the braking strategy to drive; otherwise, make the vehicle deviate from the lane line away from the bus side And adopt the braking strategy to drive; the braking strategy includes: slowing down and issuing a reminder; giving priority to changing lanes to the lane away from the bus stop side, and when the lane change cannot be performed, the vehicle deviates from the lane line away from the bus side, and cooperates with braking The strategy controls the vehicle to decelerate or issue a reminder, which can effectively avoid and reduce the accident of the intelligent driving vehicle colliding with the pedestrian crossing the road suddenly when passing the bus stop. sex.

Description

A kind of intelligent driving control method and system for bus station

technical field

The present invention relates to the technical field of intelligent driving, in particular to an intelligent driving control method and system for a bus station.

Background technique

Autonomous and intelligent control of driving vehicles is the strategic commanding point of future automotive technology, and perfect testing and evaluation technology is crucial to improving the efficiency of autonomous vehicle research and development, improving technical standards and laws and regulations, and promoting industrial innovation and development. Research shows that intelligent driving vehicles have great potential in reducing traffic accidents, alleviating traffic congestion, and improving the utilization of roads and vehicles. With the development of computers and the application of deep learning algorithms, there have been explosive breakthroughs in autonomous driving technology in recent years.

There is a huge difference between traditional car testing and self-driving car testing, where a single testing factor is easy to control. However, in the process of self-driving car testing, it is necessary to constantly change the environment to verify whether the self-driving car perceives correctly and judge whether the self-driving system makes correct decisions and executions on the basis of perception. In the process of testing, it is impossible to simply judge by the results of the test which level of self-driving car is insufficient in the aspects of perception, decision-making and execution.

For the scenario of an intelligent driving vehicle passing a bus station, if there is a stopped bus in the station, the vehicle may collide with a pedestrian who suddenly crosses from the bus head when passing by, which poses a greater safety risk.

SUMMARY OF THE INVENTION

Aiming at the technical problems existing in the prior art, the present invention provides an intelligent driving control method and system for a bus station, and solves the problem of a large safety risk in the scene of an intelligent driving vehicle passing through a bus station.

According to a first aspect of the present invention, an intelligent driving control method for a bus stop is provided, including: when the vehicle detects that there is a bus stop within a set range ahead, and there is a stationary or waiting bus within the bus stop When the bus stops, determine whether the vehicle can change lanes to a lane away from the bus stop;

If yes, make the vehicle change lanes to the lane away from the bus stop and then adopt the braking strategy to drive;

Otherwise, make the vehicle deviate away from the side lane line of the bus and adopt a braking strategy to drive;

The braking strategy includes slowing down and issuing reminders.

On the basis of the above technical solutions, the present invention can also make the following improvements.

Optionally, the vehicle detects whether there is the bus stop within a set range ahead according to the positioning module and the map;

The vehicle detects that there are stationary or waiting buses in the bus stop according to the radar and the camera;

The vehicle obtains the current number of lanes and the current lane where the vehicle is located according to the map and camera, perceives vehicles and obstacles in adjacent lanes through the front camera, side camera or side radar, and determines whether it can change lanes to the lane away from the bus stop. judgment.

Optionally, after the vehicle detects that there is a bus stop within a set range ahead and that there is a stationary or waiting bus in the bus stop, the vehicle further includes:

Setting rules for risk levels N corresponding to different bus stationary time ranges, recording the stationary time T of buses in the bus station, and determining the corresponding risk level N according to the stationary time T according to the rules;

In the process of recording the stationary time T of any bus in the bus station, when the vehicle detects a new stationary bus entering the station, it re-times the new stationary bus to get the stationary time T.

Optionally, the rules include:

Set the peak time period and other time periods according to experience;

For the peak period of traffic flow, if the bus stationary time T≤the first time threshold, the risk level N is set to 1; if the bus stationary time T>the first time threshold, the risk level N is set to 1 Level N is set to 2;

For the other time periods, if the bus resting time T≤the second time threshold, set the risk level N to 1; if the bus resting time T>the second time threshold, set the risk level N is 2;

The first time threshold is greater than the second time threshold.

Optionally, the braking strategy adopted after the vehicle changes lanes to a lane away from the bus stop side includes:

At the first set distance from the bus stop, slowly reduce the speed according to the risk level N:

When the risk level N=1, reduce the vehicle speed to the first speed per hour, when the risk level N=2, reduce the vehicle speed to the second speed per hour; the first speed per hour is lower than the second speed per hour;

When the distance between the vehicle and the bus station is less than or equal to the second set distance, the vehicle sends out a reminder, and the reminder includes: a whistle reminder and a reminder to switch between high and low beams at night;

The second set distance is smaller than the first set distance.

Optionally, the braking strategy adopted after the vehicle deviates away from the side lane line of the bus includes:

When the distance between the vehicle and the bus station is less than or equal to the first set distance, the vehicle speed is slowly reduced according to the risk level N:

When the risk level N=1, reduce the vehicle speed to the first speed per hour, when the risk level N=2, reduce the vehicle speed to the second speed per hour; the first speed per hour is lower than the second speed per hour;

When the distance between the vehicle and the bus station is less than or equal to the second set distance, the vehicle deviates from the lane line on the side of the bus, and sends out a reminder, and the reminder includes: a whistle reminder and a reminder to turn on the high and low beams at night;

The second set distance is smaller than the first set distance.

Optionally, the vehicle resumes the vehicle speed and drives in the center when any release condition is satisfied;

The release conditions include: the starting speed of the stationary vehicle at the bus station exceeds the third speed per hour, the self-vehicle exceeds the third set distance of all stationary buses in the station, the driver accelerates by stepping on the accelerator, and the steering wheel angle of the vehicle exceeds the set value.

According to a second aspect of the present invention, an intelligent driving control system for a bus station is provided, comprising: a detection module and a braking module;

The detection module is used to detect that there is a bus stop within the set range ahead and that there are stationary or waiting buses in the bus stop;

The braking module is used to judge whether the vehicle can change lanes to be far away from the bus stop when the detection module detects that there is a bus stop within a set range ahead and there is a stationary or waiting bus in the bus stop. The lane on the side of the bus stop; if it is, make the vehicle change lanes to the lane away from the bus stop and then adopt the braking strategy to drive; otherwise, make the vehicle deviate away from the lane line on the bus side and adopt the braking strategy to drive; the said Braking strategies include: slowing down and issuing reminders.

According to a third aspect of the present invention, an electronic device is provided, including a memory and a processor, wherein the processor is configured to implement the steps of an intelligent driving control method for a bus station when executing a computer management program stored in the memory.

According to a fourth aspect of the present invention, there is provided a computer-readable storage medium on which a computer management program is stored, and when the computer management program is executed by a processor, implements steps of an intelligent driving control method for a bus stop .

The present invention provides an intelligent driving control method, system, electronic device and storage medium for a bus stop. For the scene of an intelligent driving vehicle passing through a bus stop, firstly, real-time detection of the bus stop within a set range ahead is performed, and then When it is detected that there is a bus stop within the set range ahead and there is a stationary or waiting bus in the bus stop, it will give priority to changing lanes to the lane away from the bus stop. Deviating from the lane line on the side of the vehicle, and controlling the vehicle to decelerate or issue a reminder in conjunction with the braking strategy, can effectively avoid and reduce the accident of the intelligent driving vehicle colliding with the pedestrian crossing the road suddenly when passing the bus stop, which is in line with driving through stationary bus vehicles. Habits, improve the safety of urban intelligent driving.

Description of drawings

1 is a flowchart of an intelligent driving control method for a bus station provided by the present invention;

2 is a structural block diagram of an intelligent driving control system for a bus station provided by the present invention;

3 is a schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

FIG. 4 is a schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention.

Detailed ways

The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples are only used to explain the present invention, but not to limit the scope of the present invention.

FIG. 1 is a flowchart of an intelligent driving control method for a bus station provided by the present invention. As shown in FIG. 1 , the intelligent driving control method includes: the intelligent driving control method includes:

When the vehicle detects that there is a bus stop within the set range ahead and that there is a stationary or waiting bus in the bus stop, it determines whether the vehicle can change lanes to a lane away from the bus stop.

In the specific implementation, the intelligent driving function is turned on after the vehicle drives on the road. First, it is judged whether there is a bus stop within the set range ahead and whether there is a stationary bus or a bus about to enter the bus stop. When there is no bus stop within the set range or there is no stationary bus or a bus about to enter the bus stop at some bus stops in front of the set range, the vehicle will run normally according to the setting. Otherwise, it is further judged whether the vehicle can change lanes to a lane away from the bus stop side.

The setting range can be set flexibly, for example, it can be set to 150 meters.

If yes, make the vehicle change lanes to the lane away from the bus stop and then adopt the braking strategy to drive.

If there is a stationary bus in the bus stop in the lane adjacent to the vehicle, and the lane is changed away from the bus, the vehicle will automatically change lanes to the road away from the bus, and be separated from the bus by one lane.

Otherwise, make the vehicle deviate away from the side lane line of the bus and adopt a braking strategy.

If there is a stationary bus in the bus stop in the lane adjacent to the vehicle, and the vehicle is far away from the immutable lane on the bus side, the vehicle will automatically deviate from the lane line away from the bus side, and keep away from the bus as far as possible.

The braking strategy includes: slowing down and issuing reminders.

The present invention provides an intelligent driving control method for a bus stop. For the scene of an intelligent driving vehicle passing through a bus stop, firstly, real-time detection of a bus stop within a set range ahead is performed, and when it is detected that there is a bus stop within the set range ahead When there is a stationary bus or a bus waiting to enter the station at the bus stop, priority shall be given to changing lanes to the lane away from the bus stop side. The dynamic strategy controls the vehicle to decelerate or issue a reminder, which can effectively avoid and reduce the accident of the intelligent driving vehicle colliding with the pedestrian crossing the road suddenly when passing the bus stop. sex.

Example 1

Embodiment 1 provided by the present invention is an embodiment of an intelligent driving control method for a bus station provided by the present invention. It can be seen from FIG. 1 that the embodiment of the intelligent driving control method includes:

When the vehicle detects that there is a bus stop within the set range ahead and that there is a stationary or waiting bus in the bus stop, it determines whether the vehicle can change lanes to a lane away from the bus stop.

In a possible embodiment, the vehicle detects whether there is a bus stop within a set range ahead according to the positioning module and the map.

Vehicles use radar and cameras to detect stationary or incoming buses at bus stops.

The vehicle obtains the current number of lanes and the current lane where the vehicle is located according to the map and camera, perceives vehicles and obstacles in the adjacent lanes through the front camera, side camera or side radar, and judges whether it can change lanes to the lane away from the bus stop.

In a possible implementation manner, after the vehicle detects that there is a bus stop within a set range ahead and that there is a stationary or waiting bus within the bus stop, the vehicle further includes:

Set the rules of the risk level N corresponding to different bus stationary time ranges, record the stationary time T of the bus in the bus station, and determine the corresponding risk level N according to the stationary time T according to the rules.

In the specific implementation, in the process of recording the stationary time T of any bus in the bus stop, when the vehicle detects a new stationary bus entering the station, the vehicle re-times the new stationary bus entering the station to obtain Still time T.

In a possible embodiment, the rules include:

Set the peak time period and other time periods based on experience.

For the peak period of traffic flow, if the bus stationary time T≤the first time threshold, the risk level N is set to 1; if the bus stationary time T>the first time threshold, the risk level N is set to 2.

For other time periods, if the bus stationary time T≤the second time threshold, the risk level N is set to 1; if the bus stationary time T>the second time threshold, the risk level N is set to 2.

The first time threshold is greater than the second time threshold.

In the specific implementation, the time period of the peak period of traffic flow set according to the experience may be: commuting peak period: 7:00-9:00 and 17:30-19:30.

Consider that if the parking time of the bus entering the station is very short, there may be no one getting off the bus or there are few people getting off the bus. Therefore, set the first time threshold and the second time threshold for the peak traffic period and other periods according to experience. When the parking time is not greater than the time threshold, a low risk level is set, and when the parking time is greater than the time threshold, a high risk level is set. Specifically, the first time threshold can be set to 5 seconds, and the second time threshold can be set to 3 seconds.

When it is judged that the vehicle can change lanes to the side away from the bus stop, make the vehicle change lanes to the lane away from the bus stop side and then take the braking strategy to drive; when it is judged that the vehicle cannot change lanes to the side away from the bus stop side, make the vehicle move away from the side of the bus stop. The side of the bus deviates from the lane line and adopts a braking strategy. The braking strategy includes: slowing down and issuing reminders.

In a possible embodiment, the braking strategy adopted after the vehicle changes lanes to the lanes away from the bus stop side includes:

At the first set distance from the bus stop, slowly reduce the speed according to the risk level N:

When the risk level N=1, the vehicle speed is reduced to the first speed per hour, and when the risk level N=2, the vehicle speed is reduced to the second speed per hour; the first speed per hour is lower than the second speed per hour.

When the distance between the vehicle and the bus station is less than or equal to the second set distance, the vehicle will issue a reminder.

The second set distance is smaller than the first set distance.

In a possible embodiment, the braking strategy adopted after the vehicle deviates away from the side lane line of the bus includes:

When the vehicle is less than or equal to the first set distance from the bus stop, slowly reduce the vehicle speed according to the risk level N:

When the risk level N=1, the vehicle speed is reduced to the first speed per hour, and when the risk level N=2, the vehicle speed is reduced to the second speed per hour; the first speed per hour is lower than the second speed per hour.

When the vehicle is less than or equal to the second set distance from the bus stop, the vehicle starts to avoid the bus laterally, deviates away from the lane line on the side of the bus, and issues a reminder.

The second set distance is smaller than the first set distance.

In the specific implementation, different braking strategies are set according to the distance between the vehicle and the bus stop, the deceleration is started when the vehicle reaches the first set distance, and the reminder operation is simultaneously performed when the second set distance is reached.

The first set distance and the second set distance can be flexibly set according to experience. Specifically, the first set distance can be 30 meters. The second set distance may be 20 meters.

Different passing speeds are set according to different risk levels. The first speed and the second speed can be flexibly set according to experience. Specifically, the first speed can be 30km/h and the second speed can be 40km/h.

In a possible implementation manner, the vehicle resumes vehicle speed and centered driving when any release condition is satisfied.

The release conditions include: the starting speed of the stationary vehicle at the bus station exceeds the third speed per hour, the self-vehicle exceeds the third set distance of all stationary buses in the station, the driver steps on the accelerator to accelerate and the steering wheel angle of the vehicle exceeds the set value.

In the specific implementation, if the starting speed of the stationary vehicle at the bus station exceeds a certain value, it means that all the people who need to get off the bus at the station have come down, and the self-vehicle can also drive normally. The third speed per hour can be flexibly set according to experience. Specifically, The third speed may be 10 km/h.

The self-vehicle exceeds all stationary buses in the station by a certain distance, indicating that the self-vehicle has passed the road section where there may be people getting off the bus, and the vehicle can drive normally. The third set distance can be flexibly set according to experience. Third, the set distance can be 5m.

If the driver steps on the accelerator to accelerate and the steering wheel angle exceeds a certain value, it means that the driver of the vehicle judges through real-time observation that the vehicle has passed the potentially dangerous road section in the bus stop scene, and the vehicle can drive normally.

Example 2

Embodiment 2 provided by the present invention is an embodiment of an intelligent driving control system for a bus station provided by the present invention, and FIG. 2 is a structural diagram of an intelligent driving control system for a bus station provided by an embodiment of the present invention 2, it can be known that the embodiment of the intelligent driving control system includes: a detection module and a braking module.

The detection module is used to detect that there is a bus stop within a set range ahead and that there is a stationary or waiting bus in the bus stop.

The braking module is used to determine whether the vehicle can change lanes to the lane away from the bus stop when the detection module detects that there is a bus stop within the set range ahead and that there is a stationary or waiting bus in the bus stop ; if yes, make the vehicle change lanes to the lane away from the bus stop and then adopt the braking strategy to drive; otherwise, make the vehicle deviate from the lane line away from the bus side and adopt the braking strategy to drive. The braking strategy includes: slowing down and issuing reminders.

In a possible embodiment, the vehicle detects whether there is a bus stop within a set range ahead according to the positioning module and the map.

Vehicles use radar and cameras to detect stationary or incoming buses at bus stops.

The vehicle obtains the current number of lanes and the current lane where the vehicle is located according to the map and camera, perceives vehicles and obstacles in the adjacent lanes through the front camera, side camera or side radar, and judges whether it can change lanes to the lane away from the bus stop.

In a possible implementation manner, after the vehicle detects that there is a bus stop within a set range ahead and that there is a stationary or waiting bus within the bus stop, the vehicle further includes:

Set the rules of the risk level N corresponding to different bus stationary time ranges, record the stationary time T of the bus in the bus station, and determine the corresponding risk level N according to the stationary time T according to the rules.

In the specific implementation, in the process of recording the stationary time T of any bus in the bus stop, when the vehicle detects a new stationary bus entering the station, the vehicle re-times the new stationary bus entering the station to obtain Still time T.

In a possible embodiment, the rules include:

Set the peak time period and other time periods based on experience.

For the peak period of traffic flow, if the bus stationary time T≤the first time threshold, the risk level N is set to 1; if the bus stationary time T>the first time threshold, the risk level N is set to 2.

For other time periods, if the bus stationary time T≤the second time threshold, the risk level N is set to 1; if the bus stationary time T>the second time threshold, the risk level N is set to 2.

The first time threshold is greater than the second time threshold.

In the specific implementation, the time period of the peak period of traffic flow set according to the experience may be: commuting peak period: 7:00-9:00 and 17:30-19:30. The first time threshold may be set to 5 seconds, and the second time threshold may be set to 3 seconds.

In a possible embodiment, the braking strategy adopted after the vehicle changes lanes to the lanes away from the bus stop side includes:

At the first set distance from the bus stop, slowly reduce the speed according to the risk level N:

When the risk level N=1, the vehicle speed is reduced to the first speed per hour, and when the risk level N=2, the vehicle speed is reduced to the second speed per hour; the first speed per hour is lower than the second speed per hour.

When the distance between the vehicle and the bus station is less than or equal to the second set distance, the vehicle will issue a reminder.

The second set distance is smaller than the first set distance.

In a possible embodiment, the braking strategy adopted after the vehicle deviates away from the side lane line of the bus includes:

When the vehicle is less than or equal to the first set distance from the bus stop, slowly reduce the vehicle speed according to the risk level N:

When the risk level N=1, the vehicle speed is reduced to the first speed per hour, and when the risk level N=2, the vehicle speed is reduced to the second speed per hour; the first speed per hour is lower than the second speed per hour.

When the vehicle is less than or equal to the second set distance from the bus stop, the vehicle starts to avoid the bus laterally, deviates away from the lane line on the side of the bus, and issues a reminder. The second set distance is smaller than the first set distance.

The first speed is 30km/h and the second speed is 40km/h.

The second set distance is 20 meters, and the first set distance is 30 meters.

In a possible implementation manner, the vehicle resumes vehicle speed and centered driving when any release condition is satisfied.

The release conditions include: the starting speed of the stationary vehicle at the bus station exceeds the third speed per hour, the ego vehicle exceeds the third set distance of all stationary buses in the station, the driver accelerates by stepping on the accelerator, and the steering wheel angle of the vehicle exceeds the set value.

It can be understood that an intelligent driving control system for a bus station provided by the present invention corresponds to the intelligent driving control method for a bus station provided by the foregoing embodiments, and the relevant For technical features, please refer to the related technical features of the intelligent driving control method for bus stops.

Please refer to FIG. 3 , which is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As shown in FIG. 3 , an embodiment of the present invention provides an electronic device, including a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and running on the processor 1320, and the processor 1320 executes the computer program 1311 The following steps are implemented when the vehicle detects that there is a bus stop within the set range ahead and there is a stationary or waiting bus in the bus stop, and determines whether the vehicle can change lanes to the lane away from the bus stop; Then, make the vehicle change lanes to the lane away from the bus stop and then adopt the braking strategy to drive; otherwise, make the vehicle deviate from the lane line away from the bus side and adopt the braking strategy to drive; the braking strategy includes: decelerating and issuing a reminder.

Please refer to FIG. 4 , which is a schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As shown in FIG. 4 , this embodiment provides a computer-readable storage medium 1400 on which a computer program 1411 is stored. When the computer program 1411 is executed by the processor, the following steps are implemented: when the vehicle detects that the vehicle is within a set range ahead When there is a bus stop and there are stationary or waiting buses in the bus stop, determine whether the vehicle can change lanes to the lane away from the bus stop; if yes, make the vehicle change lanes to the lane away from the bus stop Take the braking strategy to drive; otherwise, let the vehicle deviate away from the bus side lane line and adopt the braking strategy to drive; the braking strategy includes: decelerating and issuing a reminder.

The embodiment of the present invention provides an intelligent driving control method, system, electronic device and storage medium for a bus stop. For the scene of an intelligent driving vehicle passing through a bus stop, the map and the positioning module of the vehicle are used to set the range ahead. Real-time detection of inner bus stops, when it is detected that there is a bus stop within the set range ahead and there is a stationary bus or a bus waiting to enter the bus stop, the bus stop time is recorded based on radar and camera, and the bus stop time is recorded according to the bus stop. The stop time and whether it is in the peak time period of traffic flow, set different risk levels; give priority to changing lanes to the lane away from the bus stop side, and make the vehicle deviate from the lane line away from the bus side when changing lanes is not possible. The level cooperates with the braking strategy to control the vehicle to decelerate or issue a reminder; it can effectively avoid and reduce the accident of the intelligent driving vehicle colliding with the pedestrian crossing the road suddenly when passing the bus stop, which is in line with the habit of driving through stationary bus vehicles and improves the city's intelligence driving safety.

It should be noted that, in the foregoing embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded computer or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means implementing the functions specified in one or more of the flowcharts and/or one or more blocks of the block diagrams.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

Although preferred embodiments of the present invention have been described, additional changes and modifications to these embodiments may occur to those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be construed to include the preferred embodiment and all changes and modifications that fall within the scope of the present invention.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. a kind of intelligent driving control method for bus station, is characterized in that, described intelligent driving control method comprises: When the vehicle detects that there is a bus stop within the set range ahead and there is a stationary or waiting bus in the bus stop, it determines whether the vehicle can change lanes to a lane away from the side of the bus stop; If yes, make the vehicle change lanes to the lane away from the bus stop and then adopt the braking strategy to drive; Otherwise, make the vehicle deviate away from the side lane line of the bus and adopt a braking strategy to drive; The braking strategy includes slowing down and issuing reminders. 2 . The intelligent driving control method according to claim 1 , wherein the vehicle detects whether there is the bus stop in the front setting range according to a positioning module and a map; 3 . The vehicle detects that there are stationary or waiting buses in the bus stop according to the radar and the camera; The vehicle obtains the current number of lanes and the current lane where the vehicle is located according to the map and camera, perceives vehicles and obstacles in adjacent lanes through the front camera, side camera or side radar, and determines whether it can change lanes to the lane away from the bus stop. judgment. 3. The intelligent driving control method according to claim 1, characterized in that, after the vehicle detects that there is a bus stop within a set range ahead and that there is a stationary or waiting bus in the bus stop, the vehicle also include: Setting rules for risk levels N corresponding to different bus stationary time ranges, recording the stationary time T of buses in the bus station, and determining the corresponding risk level N according to the stationary time T according to the rules; In the process of recording the stationary time T of any bus in the bus station, when the vehicle detects a new stationary bus entering the station, it re-times the new stationary bus to get the stationary time T. 4. The intelligent driving control method according to claim 3, wherein the rule comprises: Set the peak time period and other time periods according to experience; For the peak period of traffic flow, if the bus stationary time T≤the first time threshold, the risk level N is set to 1; if the bus stationary time T>the first time threshold, the risk level N is set to 1 Level N is set to 2; For the other time periods, if the bus resting time T≤the second time threshold, set the risk level N to 1; if the bus resting time T>the second time threshold, set the risk level N is 2; The first time threshold is greater than the second time threshold. 5 . The intelligent driving control method according to claim 4 , wherein the braking strategy adopted after the vehicle changes lanes to a lane away from the bus stop side comprises: 5 . At the first set distance from the bus stop, slowly reduce the speed according to the risk level N: When the risk level N=1, reduce the vehicle speed to the first speed per hour, when the risk level N=2, reduce the vehicle speed to the second speed per hour; the first speed per hour is lower than the second speed per hour; When the distance between the vehicle and the bus station is less than or equal to the second set distance, the vehicle sends out a reminder, and the reminder includes: a whistle reminder and a reminder to switch between high and low beams at night; The second set distance is smaller than the first set distance. 6. The intelligent driving control method according to claim 4, wherein the braking strategy adopted after the vehicle deviates from the side lane line of the bus comprises: When the distance between the vehicle and the bus station is less than or equal to the first set distance, the vehicle speed is slowly reduced according to the risk level N: When the risk level N=1, reduce the vehicle speed to the first speed per hour, when the risk level N=2, reduce the vehicle speed to the second speed per hour; the first speed per hour is lower than the second speed per hour; When the distance between the vehicle and the bus station is less than or equal to the second set distance, the vehicle deviates from the lane line on the side of the bus, and sends out a reminder, and the reminder includes: a whistle reminder and a reminder to turn on the high and low beams at night; The second set distance is smaller than the first set distance. 7 . The intelligent driving control method according to claim 1 , wherein the vehicle recovers the vehicle speed and drives in the center when any release condition is satisfied; 8 . The release conditions include: the starting speed of the stationary vehicle at the bus station exceeds the third speed per hour, the self-vehicle exceeds the third set distance of all stationary buses in the station, the driver accelerates by stepping on the accelerator, and the steering wheel angle of the vehicle exceeds the set value. 8. An intelligent driving control system for a bus station, wherein the intelligent driving control system comprises: a detection module and a braking module; The detection module is used to detect that there is a bus stop within the set range ahead and that there are stationary or waiting buses in the bus stop; The braking module is used to judge whether the vehicle can change lanes to be far away from the bus stop when the detection module detects that there is a bus stop within a set range ahead and there is a stationary or waiting bus in the bus stop. The lane on the side of the bus stop; if it is, make the vehicle change lanes to the lane away from the bus stop and then adopt the braking strategy to drive; otherwise, make the vehicle deviate away from the lane line on the bus side and adopt the braking strategy to drive; the said Braking strategies include: slowing down and issuing reminders. 9. An electronic device, characterized in that it comprises a memory and a processor, when the processor is used to execute the computer management class program stored in the memory to realize the bus stop according to any one of claims 1-7. The steps of the intelligent driving control method. 10. A computer-readable storage medium, characterized in that a computer management program is stored thereon, and when the computer management program is executed by a processor, the computer management program according to any one of claims 1-7 is implemented for the bus. The steps of the intelligent driving control method of the station.

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