Vehicle self-adaptive driving method for avoiding parallel running of large vehicles

The invention discloses a vehicle self-adaptive driving method for avoiding parallel vehicles, which comprises the following steps of: S1, carrying out lane division on a target vehicle identified by a sensor, and marking an area id on the vehicle at a corresponding position; s2, observing a vehicle corresponding to the corresponding area id, judging whether a target vehicle is about to be in a parallel state with the vehicle or not, and marking all target vehicles meeting a parallel condition; during judgment, if there is no close-distance driving vehicle in front of the driving lane of the vehicle and the vehicles in other lanes meet the following condition of more than 5S at the same time, it is judged that a parallel state will occur: the vertical distance between the target vehicle and the head or parking space of the vehicle is small; the target vehicle is a cart; the absolute value of the relative speed of the target vehicle and the vehicle is less than 5kph; the speed of the vehicle is higher than 60k