Vehicle speed determination method, device and equipment, vehicle and chip

Abstract

The invention relates to a vehicle speed determination method, device and equipment, a vehicle and a chip, and belongs to the technical field of vehicles. The method comprises the steps that under the condition that a first vehicle is in a slipping state, current observation information of a target object is determined, the current observation information of the target object is used for indicating the current speed of the target object relative to the first vehicle, and the target object is an object which is observed to obtain a fixed ground speed when the first vehicle is not in the slipping state; and determining the current speed of the first vehicle based on the current observation information of the target object and the fixed ground speed of the target object. Therefore, the target object and the fixed ground speed of the target object can be accurately determined before the first vehicle slips, the current observation information and the fixed ground speed of the target object can be comprehensively considered when the first vehicle slips, the current speed of the first vehicle is determined, and the current speed of the first vehicle can be accurately obtained when the first vehicle slips.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more particularly to a method, apparatus, electronic device, vehicle, chip, and storage medium for determining vehicle speed. Background Technology

[0002] Vehicle skidding refers to the phenomenon where wheels lose effective traction on the ground, causing them to slide on the road surface. For example, when the road surface is covered with sand, gravel, rain, snow, or ice, or when the wheels are severely worn, the coefficient of friction between the wheels and the road surface is low, making vehicles prone to skidding. Skidding is also likely to occur at high speeds, when the vehicle is overloaded, or when the vehicle undergoes emergency braking with significant deceleration. While related technologies calculate vehicle speed based on wheel speed, the correlation between wheel speed and vehicle speed is no longer positive when a vehicle skids, resulting in low accuracy of the calculated speed and high driving risk. Summary of the Invention

[0003] This disclosure provides a method, apparatus, electronic device, vehicle, chip, and storage medium for acquiring vehicle speed, to at least solve the problem in related technologies where vehicle speed cannot be accurately acquired when the vehicle skids. The technical solution of this disclosure is as follows:

[0004] According to a first aspect of the present disclosure, a method for determining vehicle speed is provided, comprising: determining current observation information of a target object when a first vehicle is in a skidding state, the current observation information of the target object being used to indicate the current speed of the target object relative to the first vehicle, the target object being an object whose fixed ground speed has been observed when the first vehicle is not in a skidding state; wherein the target object includes at least one of a first target object in a stationary state and a second target object in a state of uniform motion; and determining the current speed of the first vehicle based on the current observation information of the target object and the fixed ground speed of the target object.

[0005] The vehicle speed determination method provided in the embodiments of this disclosure determines the current observation information of a target object when the first vehicle is in a skidding state. This current observation information indicates the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed even when the first vehicle is not skidding. Based on the current observation information and the fixed ground speed of the target object, the current speed of the first vehicle is determined. Therefore, the target object and its fixed ground speed can be accurately determined before the first vehicle skids. When the first vehicle skids, the current observation information and the fixed ground speed of the target object can be comprehensively considered to determine the current speed of the first vehicle, allowing for accurate acquisition of the current speed of the first vehicle when it is skidding.

[0006] Furthermore, driving decisions for the first vehicle can be made based on its current speed. Since this disclosure can accurately obtain the current speed of the first vehicle when it skids, it helps to improve the accuracy of driving decisions, thereby improving driving safety and comfort, and optimizing the driving experience when the vehicle skids.

[0007] In some possible implementations, after determining the current speed of the first vehicle, the method further includes: determining at least one of the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle; wherein the second vehicle is in the same lane as the first vehicle; and controlling the speed of the first vehicle based on at least one of the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle.

[0008] Therefore, when a vehicle skids, at least one of the parameters, namely the current speed of other vehicles in the same lane relative to the vehicle and the current speed of other vehicles in the same lane, can be taken into account to control the vehicle's speed, so as to maintain the distance between the vehicle and other vehicles in the same lane to meet the safety distance requirements, avoid collisions between the vehicle and other vehicles in the same lane, help improve driving safety, and optimize the driving experience when the vehicle skids.

[0009] In some possible implementations, controlling the speed of the first vehicle based on at least one of the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle includes: determining the driving state of the second vehicle based on the current speed of the second vehicle and the historical speed of the second vehicle; and controlling the first vehicle to accelerate when the second vehicle is behind the first vehicle and the second vehicle is accelerating, so as to maintain the distance between the first vehicle and the second vehicle to meet the safety distance requirements.

[0010] Therefore, if a vehicle skids and the vehicle behind accelerates, the driver can control the vehicle to accelerate as well, in order to maintain a safe distance between the two vehicles and avoid a collision, thus improving driving safety.

[0011] In some possible implementations, the method further includes performing at least one of the following operations when the second vehicle is in an accelerating state:

[0012] Turn on the hazard lights of the first vehicle;

[0013] Control the brake lights of the first vehicle to illuminate;

[0014] Control the brake lights of the first vehicle to flash at a preset frequency or an increased frequency.

[0015] Therefore, when a vehicle skids, if a vehicle behind accelerates, the driver can activate the vehicle's hazard lights, control the brake lights to illuminate, and control the brake lights to flash at a preset or increased frequency to send a warning signal to the vehicle behind. This allows the vehicle behind to notice that the vehicle is skidding and take measures such as slowing down to maintain a safe distance between the two vehicles, thus avoiding a collision and improving driving safety.

[0016] In some possible implementations, controlling the speed of the first vehicle based on at least one of the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle includes: determining the driving state of the second vehicle based on the current speed of the second vehicle and the historical speed of the second vehicle; and controlling the first vehicle to decelerate when the second vehicle is in front of the first vehicle and the second vehicle is in a deceleration state, so as to maintain the distance between the first vehicle and the second vehicle to meet the safety distance requirements.

[0017] Therefore, if the vehicle in front slows down when the vehicle skids, the driver can control the vehicle to slow down as well, so as to maintain a safe distance between the vehicle and the vehicle in front, avoid collisions, and improve driving safety.

[0018] In some possible implementations, the method further includes performing at least one of the following operations when the second vehicle is in a decelerating state:

[0019] The horn of the first vehicle is activated and sounds.

[0020] Control the headlights of the first vehicle to flash;

[0021] Turn on the hazard lights of the first vehicle;

[0022] Control the brake lights of the first vehicle to illuminate;

[0023] Control the brake lights of the first vehicle to flash at a preset frequency or an increased frequency.

[0024] Therefore, when your vehicle skids, if the vehicle in front slows down, you can sound your horn, flash your headlights, or activate your hazard lights to send a warning signal to the vehicle in front. This will make the vehicle in front aware that your vehicle is skidding and prompt it to take strategies such as accelerating to maintain a safe distance between your vehicle and the vehicle in front, thus avoiding a collision and improving driving safety.

[0025] In addition, the system can activate the vehicle's horn, hazard lights, brake lights, and brake lights to flash at a preset or increased frequency to send warning signals to vehicles behind, making them aware that the vehicle is skidding and prompting them to slow down to maintain a safe distance and avoid collisions, thus improving driving safety.

[0026] In some possible implementations, determining the current speed of the first vehicle based on the current observation information of the target object and the fixed ground velocity of the target object includes: determining the current speed of the first vehicle based on the current observation information of the target object when the target object exists; or, determining the current speed of the first vehicle based on the current observation information of the target object and the fixed ground velocity of the target object when the target object does not exist and the target object is present.

[0027] Therefore, when a stationary target exists, the current speed of the first vehicle can be determined by prioritizing the current speed of the stationary target relative to the first vehicle as indicated by the current observation information of the stationary target. When no stationary target exists but a target moving at a constant speed exists, the current speed of the target moving at a constant speed relative to the first vehicle, as indicated by the current observation information of the target moving at a constant speed, and the fixed ground speed of the target moving at a constant speed can be considered together to determine the current speed of the first vehicle.

[0028] In some possible implementations, the method further includes: determining historical observation information of each candidate object when the first vehicle is not in a skidding state, the historical observation information of the candidate object being used to indicate the historical speed of the candidate object relative to the first vehicle; and determining the target object from the candidate objects based on the historical observation information of each candidate object.

[0029] Therefore, compared with the ground speed of the candidate object observed when the first vehicle skids, the ground speed of the candidate object observed before the first vehicle skids is more accurate, thus accurately determining the object with a fixed ground speed, and thus accurately determining the target object and its fixed ground speed.

[0030] In some possible implementations, determining the target object from the candidate objects based on their historical observation information includes: determining a first candidate object in a static state from the candidate objects based on their historical observation information; using the first candidate object as the first target object; or, using the first candidate object as the first target object if it meets a first condition.

[0031] The first condition includes at least one of the following conditions:

[0032] The cumulative observation duration of the first vehicle for the candidate first object is greater than a first preset duration;

[0033] The distance between the first candidate object and the first vehicle is greater than a first predetermined distance.

[0034] Therefore, when the first vehicle does not skid, the historical speed of each candidate object relative to the first vehicle can be determined from the candidate objects by taking into account the historical observation information of each candidate object. The candidate first object in a stationary state can be directly used as the target first object.

[0035] Alternatively, the candidate first object may be used as the target first object only when the cumulative observation time of the candidate first object is large, and / or the distance between the candidate first object and the vehicle is large. This ensures that the first vehicle can still observe the target first object when the first vehicle skids. Then, the current observation information of the target first object can be taken into account when the first vehicle skids to determine the current speed of the first vehicle. This allows the current speed of the first vehicle to be obtained accurately and reliably when the first vehicle skids.

[0036] In some possible implementations, the method further includes:

[0037] Based on the historical observation information of each candidate object, a candidate second object in a state of uniform motion is determined from the candidate objects; the candidate second object is used as the target second object; or, if the candidate second object meets the second condition, the candidate second object is used as the target second object.

[0038] The second condition includes at least one of the following conditions:

[0039] The cumulative observation duration of the first vehicle for the candidate second object is greater than the second preset duration;

[0040] The distance between the candidate second object and the first vehicle is within a set distance range;

[0041] The speed of the second candidate object is greater than the set speed;

[0042] The acceleration of the candidate second object is less than the set acceleration;

[0043] The candidate second object is a third vehicle located in a lane other than the lane where the first vehicle is located.

[0044] Therefore, when the first vehicle does not slip, the historical speed of each candidate object relative to the first vehicle can be determined from the candidate objects, and the candidate second object in uniform motion can be directly used as the target second object, taking into account the historical observation information of each candidate object.

[0045] Alternatively, the candidate second object may be designated as the target second object only when the cumulative observation time of the candidate second object is relatively long, and / or the distance between the candidate second object and the vehicle is within a set distance range, and / or the speed of the candidate second object is relatively high, and / or the acceleration of the candidate second object is relatively low, and / or the candidate second object and the first vehicle are not located in the same lane. This ensures that the first vehicle can still observe the target second object when it skids. Furthermore, when the first vehicle skids, the current observation information of the target second object is taken into account to determine the current speed of the first vehicle. This allows for accurate and reliable acquisition of the current speed of the first vehicle when it skids.

[0046] According to a second aspect of the present disclosure, a vehicle speed determination apparatus is provided, comprising: a first determination module configured to determine current observation information of a target object when a first vehicle is in a skidding state, the current observation information of the target object being used to indicate the current speed of the target object relative to the first vehicle, the target object being an object whose fixed ground speed has been observed when the first vehicle is not in a skidding state; wherein the target object includes at least one of a first target object in a stationary state and a second target object in a state of uniform motion; and a second determination module configured to determine the current speed of the first vehicle based on the current observation information of the target object and the fixed ground speed of the target object.

[0047] The vehicle speed determination apparatus provided in the embodiments of this disclosure determines the current observation information of a target object when the first vehicle is in a skidding state. This current observation information indicates the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed even when the first vehicle is not skidding. Based on the current observation information and the fixed ground speed of the target object, the current speed of the first vehicle is determined. Therefore, the target object and its fixed ground speed can be accurately determined before the first vehicle skids. When the first vehicle skids, the current speed of the first vehicle can be determined by comprehensively considering both the current observation information and the fixed ground speed of the target object, thus enabling accurate acquisition of the current speed of the first vehicle when it is skidding.

[0048] Furthermore, driving decisions for the first vehicle can be made based on its current speed. Since this disclosure can accurately obtain the current speed of the first vehicle when it skids, it helps to improve the accuracy of driving decisions, thereby improving driving safety and comfort, and optimizing the driving experience when the vehicle skids.

[0049] In some possible implementations, the apparatus further includes a control module, which, after determining the current speed of the first vehicle, is configured to: determine at least one of the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle; wherein the second vehicle is in the same lane as the first vehicle; and control the speed of the first vehicle based on at least one of the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle.

[0050] Therefore, when a vehicle skids, at least one of the parameters, namely the current speed of other vehicles in the same lane relative to the vehicle and the current speed of other vehicles in the same lane, can be taken into account to control the vehicle's speed, so as to maintain the distance between the vehicle and other vehicles in the same lane to meet the safety distance requirements, avoid collisions between the vehicle and other vehicles in the same lane, help improve driving safety, and optimize the driving experience when the vehicle skids.

[0051] In some possible implementations, the control module is further configured to: determine the driving state of the second vehicle based on the current speed and the historical speed of the second vehicle; and control the first vehicle to accelerate when the second vehicle is behind the first vehicle and the second vehicle is accelerating, so as to maintain the distance between the first vehicle and the second vehicle to meet the safety distance requirements.

[0052] Therefore, if a vehicle skids and the vehicle behind accelerates, the driver can control the vehicle to accelerate as well, in order to maintain a safe distance between the two vehicles and avoid a collision, thus improving driving safety.

[0053] In some possible implementations, when the second vehicle is accelerating, the control module is further configured to perform at least one of the following operations:

[0054] Turn on the hazard lights of the first vehicle;

[0055] Control the brake lights of the first vehicle to illuminate;

[0056] Control the brake lights of the first vehicle to flash at a preset frequency or an increased frequency.

[0057] Therefore, when a vehicle skids, if a vehicle behind accelerates, the driver can activate the vehicle's hazard lights, control the brake lights to illuminate, and control the brake lights to flash at a preset or increased frequency to send a warning signal to the vehicle behind. This allows the vehicle behind to notice that the vehicle is skidding and take measures such as slowing down to maintain a safe distance between the two vehicles, thus avoiding a collision and improving driving safety.

[0058] In some possible implementations, the control module is further configured to: determine the driving state of the second vehicle based on the current speed and the historical speed of the second vehicle; and control the first vehicle to decelerate when the second vehicle is in front of the first vehicle and the second vehicle is in a deceleration state, so as to maintain the distance between the first vehicle and the second vehicle to meet the safety distance requirements.

[0059] Therefore, if the vehicle in front slows down when the vehicle skids, the driver can control the vehicle to slow down as well, so as to maintain a safe distance between the vehicle and the vehicle in front, avoid collisions, and improve driving safety.

[0060] In some possible implementations, when the second vehicle is in a decelerating state, the control module is further configured to perform at least one of the following operations:

[0061] The horn of the first vehicle is activated and sounds.

[0062] Control the headlights of the first vehicle to flash;

[0063] Turn on the hazard lights of the first vehicle;

[0064] Control the brake lights of the first vehicle to illuminate;

[0065] Control the brake lights of the first vehicle to flash at a preset frequency or an increased frequency.

[0066] Therefore, when your vehicle skids, if the vehicle in front slows down, you can sound your horn, flash your headlights, or activate your hazard lights to send a warning signal to the vehicle in front. This will make the vehicle in front aware that your vehicle is skidding and prompt it to take strategies such as accelerating to maintain a safe distance between your vehicle and the vehicle in front, thus avoiding a collision and improving driving safety.

[0067] In addition, the system can activate the vehicle's horn, hazard lights, brake lights, and brake lights to flash at a preset or increased frequency to send warning signals to vehicles behind, making them aware that the vehicle is skidding and prompting them to slow down to maintain a safe distance and avoid collisions, thus improving driving safety.

[0068] In some possible implementations, the second determining module is further configured to: determine the current speed of the first vehicle based on the current observation information of the first target object when the first target object exists; or, determine the current speed of the first vehicle based on the current observation information of the second target object and the fixed ground speed of the second target object when the first target object does not exist but the second target object exists.

[0069] Therefore, when a stationary target exists, the current speed of the first vehicle can be determined by prioritizing the current speed of the stationary target relative to the first vehicle as indicated by the current observation information of the stationary target. When no stationary target exists but a target moving at a constant speed exists, the current speed of the target moving at a constant speed relative to the first vehicle, as indicated by the current observation information of the target moving at a constant speed, and the fixed ground speed of the target moving at a constant speed can be considered together to determine the current speed of the first vehicle.

[0070] In some possible implementations, the first determining module is further configured to: determine historical observation information of each candidate object when the first vehicle is not in a skidding state, the historical observation information of the candidate object being used to indicate the historical speed of the candidate object relative to the first vehicle; and determine the target object from the candidate objects based on the historical observation information of each candidate object.

[0071] Therefore, compared with the ground speed of the candidate object observed when the first vehicle skids, the ground speed of the candidate object observed before the first vehicle skids is more accurate, thus accurately determining the object with a fixed ground speed, and thus accurately determining the target object and its fixed ground speed.

[0072] In some possible implementations, the first determining module is further configured to: determine a candidate first object in a static state from among the candidate objects based on the historical observation information of each candidate object; designate the candidate first object as the target first object; or, designate the candidate first object as the target first object if the candidate first object satisfies a first condition.

[0073] The first condition includes at least one of the following conditions:

[0074] The cumulative observation duration of the first vehicle for the candidate first object is greater than a first preset duration;

[0075] The distance between the first candidate object and the first vehicle is greater than a first predetermined distance.

[0076] Therefore, when the first vehicle does not skid, the historical speed of each candidate object relative to the first vehicle can be determined from the candidate objects by taking into account the historical observation information of each candidate object. The candidate first object in a stationary state can be directly used as the target first object.

[0077] Alternatively, the candidate first object may be used as the target first object only when the cumulative observation time of the candidate first object is large, and / or the distance between the candidate first object and the vehicle is large. This ensures that the first vehicle can still observe the target first object when the first vehicle skids. Then, the current observation information of the target first object can be taken into account when the first vehicle skids to determine the current speed of the first vehicle. This allows the current speed of the first vehicle to be obtained accurately and reliably when the first vehicle skids.

[0078] In some possible implementations, the first determining module is further configured to: determine a candidate second object in uniform motion from among the candidate objects based on the historical observation information of each candidate object; designate the candidate second object as the target second object; or, designate the candidate second object as the target second object if the candidate second object satisfies a second condition.

[0079] The second condition includes at least one of the following conditions:

[0080] The cumulative observation duration of the first vehicle for the candidate second object is greater than the second preset duration;

[0081] The distance between the candidate second object and the first vehicle is within a set distance range;

[0082] The speed of the second candidate object is greater than the set speed;

[0083] The acceleration of the candidate second object is less than the set acceleration;

[0084] The candidate second object is a third vehicle located in a lane other than the lane where the first vehicle is located.

[0085] Therefore, when the first vehicle does not slip, the historical speed of each candidate object relative to the first vehicle can be determined from the candidate objects, and the candidate second object in uniform motion can be directly used as the target second object, taking into account the historical observation information of each candidate object.

[0086] Alternatively, the candidate second object may be designated as the target second object only when the cumulative observation time of the candidate second object is relatively long, and / or the distance between the candidate second object and the vehicle is within a set distance range, and / or the speed of the candidate second object is relatively high, and / or the acceleration of the candidate second object is relatively low, and / or the candidate second object and the first vehicle are not located in the same lane. This ensures that the first vehicle can still observe the target second object when it skids. Furthermore, when the first vehicle skids, the current observation information of the target second object is taken into account to determine the current speed of the first vehicle. This allows for accurate and reliable acquisition of the current speed of the first vehicle when it skids.

[0087] According to a third aspect of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the method for determining vehicle speed described in the first aspect of the present disclosure.

[0088] According to a fourth aspect of the present disclosure, a vehicle is provided, including a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the method for determining the vehicle speed according to the first aspect of the present disclosure.

[0089] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of the method for determining vehicle speed described in the first aspect of the present disclosure.

[0090] According to a sixth aspect of the present disclosure, a chip is provided, the chip including an interface circuit and a processing circuit coupled to each other, the interface circuit being used to input or output signals, and the processing circuit being configured to implement the steps of the method for determining vehicle speed according to the first aspect of the present disclosure.

[0091] According to a seventh aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method for determining vehicle speed described in the first aspect of the present disclosure.

[0092] The technical solution provided by the embodiments of this disclosure brings at least the following beneficial effects: When the first vehicle is in a skidding state, the current observation information of the target object is determined. The current observation information of the target object is used to indicate the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed when the first vehicle is not in a skidding state. Based on the current observation information of the target object and the fixed ground speed of the target object, the current speed of the first vehicle is determined. Therefore, the target object and its fixed ground speed can be accurately determined before the first vehicle skids. When the first vehicle skids, the current observation information of the target object and the fixed ground speed of the target object can be comprehensively considered to determine the current speed of the first vehicle. The current speed of the first vehicle can be accurately obtained when the first vehicle is skidding.

[0093] Furthermore, driving decisions for the first vehicle can be made based on its current speed. Since this disclosure can accurately obtain the current speed of the first vehicle when it skids, it helps to improve the accuracy of driving decisions, thereby improving driving safety and comfort, and optimizing the driving experience when the vehicle skids.

[0094] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0095] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0096] Figure 1 This is a flowchart illustrating a method for determining vehicle speed according to an exemplary embodiment.

[0097] Figure 2 This is a flowchart illustrating a method for determining vehicle speed according to another exemplary embodiment.

[0098] Figure 3 This is a flowchart illustrating a method for determining vehicle speed according to another exemplary embodiment.

[0099] Figure 4 This is a flowchart illustrating a method for determining vehicle speed according to another exemplary embodiment.

[0100] Figure 5 This is a flowchart illustrating a method for determining vehicle speed according to another exemplary embodiment.

[0101] Figure 6 This is a flowchart illustrating a method for determining vehicle speed according to another exemplary embodiment.

[0102] Figure 7 This is a schematic diagram of the structure of a vehicle speed determination device according to another exemplary embodiment.

[0103] Figure 8 This is a schematic diagram of the structure of a vehicle according to an exemplary embodiment.

[0104] Figure 9 This is a schematic diagram of the structure of a chip according to an exemplary embodiment. Detailed Implementation

[0105] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0106] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0107] The following description, with reference to the accompanying drawings, outlines a method, apparatus, electronic device, vehicle, chip, and storage medium for determining vehicle speed according to embodiments of the present disclosure.

[0108] Figure 1 This is a flowchart illustrating a method for determining vehicle speed according to an exemplary embodiment, such as... Figure 1 As shown, the method for determining vehicle speed according to an embodiment of this disclosure includes the following steps.

[0109] S101, when the first vehicle is in a skidding state, determine the current observation information of the target object. The current observation information of the target object is used to indicate the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed when the first vehicle is not in a skidding state. The target object includes at least one of the target first object in a stationary state and the target second object in a uniform motion state.

[0110] It should be noted that the vehicle speed determination method in this embodiment is executed by an electronic device, such as a vehicle (e.g., an in-vehicle terminal, in-vehicle controller, etc.), and the in-vehicle controller may include an ECU (Electronic Control Unit). The vehicle speed determination method in this embodiment can be executed by a vehicle speed determination device, which can be configured in any electronic device to execute the vehicle speed determination method. The following description uses a first vehicle as the executing entity to illustrate the vehicle speed determination method in this embodiment.

[0111] The observation information for candidate objects is not overly limited. It may include, for example, the distance between the candidate object and the first vehicle, the speed of the candidate object relative to the first vehicle, the candidate object's ground velocity, the candidate object's acceleration, whether the candidate object is stationary or in motion, and the cumulative observation time of the first vehicle. The candidate object's ground velocity can be simply referred to as its speed. The cumulative observation time of the first vehicle refers to the total duration for which the first vehicle observes the candidate object.

[0112] Candidate objects are the objects of observation, and there are no strict limitations on them. For example, they can include guardrails, green belts, streetlights, pedestrians, and other vehicles besides the vehicle itself. There are also no strict limitations on the observation methods. For example, observation information of candidate objects can be collected by the millimeter-wave radar of the first vehicle.

[0113] The target object is the object whose fixed ground speed was observed before the first vehicle began to skid; that is, the target object is the object whose fixed ground speed was observed before the first vehicle began to skid. Each candidate object includes the target object.

[0114] When a vehicle is in a skidding state (or simply skidding), it refers to the state where the wheels lose effective traction with the ground, causing them to slide on the road surface. This can happen when the road surface is covered with sand, gravel, rain, snow, or ice, or when the wheels are severely worn, resulting in a low coefficient of friction between the wheels and the road surface, making the vehicle prone to skidding. Skidding is also more likely to occur when the vehicle is traveling at high speed, overloaded, or undergoing emergency braking with significant deceleration.

[0115] In related technologies, vehicle speed is calculated based on wheel speed. However, when a vehicle slips, there is no longer a positive correlation between wheel speed and vehicle speed, resulting in low accuracy of the calculated vehicle speed and high driving risk.

[0116] Most related technologies rely on vehicle speed for driving decisions, such as deciding whether to apply the brakes or cancel them. If the calculated vehicle speed is inaccurate when the vehicle skids, the driving decisions are prone to errors, leading to poor driving safety and comfort, and affecting the driving experience.

[0117] Understandably, compared to the ground speed of candidate objects observed when a vehicle is skidding, the ground speed of candidate objects observed before the vehicle skids (when the vehicle is not skidding) is more accurate. Therefore, objects with fixed ground speeds can be accurately identified, and thus the target object and its fixed ground speed can be accurately determined.

[0118] The target object is not subject to many restrictions; for example, it may include at least one of the following: a first target object in a stationary state (which may be referred to as a stationary target object) and a second target object in uniform motion (which may be referred to as a uniformly moving target object). It should be noted that the fixed ground velocity of the first target object is zero, while the fixed ground velocity of the second target object is non-zero. There is at least one target object, and the fixed ground velocities of different target objects may differ.

[0119] The process for determining the target object can be found in the following embodiments, and will not be repeated here.

[0120] S102, Based on the current observation information of the target object and the fixed ground velocity of the target object, determine the current speed of the first vehicle.

[0121] It is understandable that vehicle skidding is relatively brief. We can assume that the target object's ground velocity remains constant within a short period of time, such as 500 milliseconds. Based on the above assumption, when the first vehicle skids, the target object's ground velocity is still the fixed ground velocity of the target object that was observed when the first vehicle did not skid.

[0122] In this disclosure, when the first vehicle skids, the current speed of the first vehicle can be determined by comprehensively considering the current observation information of the target object and the fixed ground speed of the target object, so that the current speed of the first vehicle can be accurately obtained when the first vehicle skids.

[0123] Furthermore, driving decisions for the first vehicle can be made based on its current speed. Since this disclosure can accurately obtain the current speed of the first vehicle when it skids, it helps to improve the accuracy of driving decisions, thereby improving driving safety and comfort, and optimizing the driving experience when the vehicle skids.

[0124] In this disclosure, the current speed of the first vehicle is determined based on the current observation information of the target object and the fixed ground velocity of the target object, including at least one of the following embodiments:

[0125] Method 1: Determine the current speed of the first vehicle based on the current observation information of the first target object.

[0126] It should be noted that the fixed ground speed of the first target object is zero before the first vehicle skids. The current observation information of the first target object is used to indicate the current speed of the first target object relative to the first vehicle. That is, the current speed of the first vehicle can be determined by taking into account the current speed of the stationary target object relative to the first vehicle indicated by the current observation information of the stationary target object.

[0127] It can be assumed that the first target object remains stationary for a short period of time. Based on the above assumption, the ground velocity of the first target object is still zero when the first vehicle skids.

[0128] For example, if the current speed vs of the first target object relative to the first vehicle is the current speed of the first target object minus the current speed Vego of the first vehicle, then we can assume that the current speed of the first target object is still zero, and the current speed Vego of the first vehicle is -vs.

[0129] For example, taking a guardrail as the first target object, when vehicle A is in a skidding state, the current observation information of the guardrail collected by the millimeter-wave radar of vehicle A is obtained. The current observation information of the guardrail is used to indicate the current speed of the guardrail relative to vehicle A. The guardrail is an object whose fixed ground velocity is zero when vehicle A is not in a skidding state. It should be noted that in this embodiment, the first vehicle includes vehicle A.

[0130] If the current speed of the guardrail relative to vehicle A is the current speed of the guardrail minus the current speed of vehicle A, and the current speed of the guardrail relative to vehicle A is -5 m / s, then the current speed of vehicle A is 5 m / s.

[0131] Method 2: Determine the current speed of the first vehicle based on the current observation information of the second target object and the fixed ground velocity of the second target object.

[0132] It should be noted that the current observation information of the second target object is used to indicate the current speed of the second target object relative to the first vehicle. That is, the current speed of the first vehicle is determined by comprehensively considering the current speed of the target uniformly moving object relative to the vehicle indicated by the current observation information of the target uniformly moving object, as well as the fixed ground speed of the target uniformly moving object.

[0133] It can be assumed that the second target object maintains a constant speed for a short period of time. Based on the above assumption, when the first vehicle skids, the ground speed of the second target object is still the fixed ground speed of the second target object.

[0134] For example, if the current speed ve of the second target object relative to the first vehicle is the current speed of the second target object minus the current speed Vego of the first vehicle, and the fixed ground speed of the second target object is VEO, then it can be assumed that the current speed of the second target object is still VEO, and the current speed Vego of the first vehicle is VEO - ve.

[0135] For example, taking vehicle B as the second target, when vehicle A is in a skidding state, the current observation information of vehicle B collected by the millimeter-wave radar of vehicle A is obtained. The current observation information of vehicle B is used to indicate the current speed of vehicle B relative to vehicle A. Vehicle B is an object whose fixed ground speed of 10 m / s has been observed when vehicle A is not in a skidding state. It should be noted that in this embodiment, the first vehicle includes vehicle A.

[0136] If the current speed of vehicle B relative to vehicle A is the current speed of vehicle B minus the current speed of vehicle A, and the current speed of vehicle B relative to vehicle A is 5 m / s, then the current speed of vehicle A is 5 m / s.

[0137] Method 3: Based on the current observation information of any target object and the fixed ground velocity of any target object, determine any candidate velocity of the first vehicle, and based on at least two candidate velocities of the first vehicle, determine the current velocity of the first vehicle.

[0138] Therefore, when the first vehicle skids, the current observation information and fixed ground speed of any target object can be taken into account to determine any candidate speed of the first vehicle. Furthermore, considering at least two candidate speeds of the first vehicle, the current speed of the first vehicle can be determined. This means that the current observation information and fixed ground speed of multiple target objects can be taken into account to determine the current speed of the first vehicle, which helps to improve the accuracy of the current speed of the first vehicle.

[0139] Optionally, the current speed of the first vehicle is determined based on at least two candidate speeds of the first vehicle, including obtaining the average of the at least two candidate speeds of the first vehicle as the current speed of the first vehicle.

[0140] Optionally, any candidate first speed of the first vehicle can be determined based on the current observation information of any target first object, and the current speed of the first vehicle can be determined based on at least two candidate first speeds. Thus, the current speed of the first vehicle can be determined by taking into account the current speeds of each stationary target relative to the first vehicle, as indicated by the current observation information of multiple stationary target objects.

[0141] Optionally, any candidate second speed of the first vehicle can be determined based on the current observation information of any target second object and the fixed ground velocity of any target second object. The current speed of the first vehicle can be determined based on at least two candidate second speeds. Thus, the current speed of the first vehicle can be determined by taking into account the current speeds of each target uniformly moving object relative to the first vehicle, as indicated by the current observation information of multiple target uniformly moving objects, and the fixed ground velocity of each target uniformly moving object.

[0142] Optionally, based on the current observation information of any first target object, any candidate first speed of the first vehicle can be determined; based on the current observation information of any second target object and the fixed ground speed of any second target object, any candidate second speed of the first vehicle can be determined; and based on at least one candidate first speed and at least one candidate second speed of the first vehicle, the current speed of the first vehicle can be determined. Thus, the current speed of the first vehicle can be determined by taking into account the current speeds of at least one stationary target object relative to the first vehicle, as indicated by the current observation information of at least one uniformly moving target object, and the fixed ground speed of at least one uniformly moving target object.

[0143] It should be noted that this disclosure does not impose any restrictions on the execution sequence of steps S101 to S102. Figure 1 The example is performed by executing steps S101 to S102 in sequence only.

[0144] The vehicle speed determination method provided in the embodiments of this disclosure determines the current observation information of a target object when the first vehicle is in a skidding state. This current observation information indicates the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed even when the first vehicle is not skidding. Based on the current observation information and the fixed ground speed of the target object, the current speed of the first vehicle is determined. Therefore, the target object and its fixed ground speed can be accurately determined before the first vehicle skids. When the first vehicle skids, the current observation information and the fixed ground speed of the target object can be comprehensively considered to determine the current speed of the first vehicle, allowing for accurate acquisition of the current speed of the first vehicle when it is skidding.

[0145] Furthermore, driving decisions for the first vehicle can be made based on its current speed. Since this disclosure can accurately obtain the current speed of the first vehicle when it skids, it helps to improve the accuracy of driving decisions, thereby improving driving safety and comfort, and optimizing the driving experience when the vehicle skids.

[0146] Figure 2This is a flowchart illustrating a method for determining vehicle speed according to another exemplary embodiment, such as... Figure 2 As shown, the method for determining vehicle speed according to an embodiment of this disclosure includes the following steps.

[0147] S201, when the first vehicle is in a skidding state, determine the current observation information of the target object. The current observation information of the target object is used to indicate the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed when the first vehicle is not in a skidding state. The target object includes at least one of the target first object in a stationary state and the target second object in a state of uniform motion.

[0148] S202, Based on the current observation information of the target object and the fixed ground velocity of the target object, determine the current speed of the first vehicle.

[0149] The details of steps S201-S202 can be found in the above embodiments and will not be repeated here.

[0150] S203, determine at least one of the following parameters: the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle, wherein the second vehicle and the first vehicle are in the same lane.

[0151] It should be noted that determining the current speed of the second vehicle relative to the first vehicle can be achieved using any of the relevant technologies for determining the speed of other vehicles relative to the vehicle itself, without further limitations here.

[0152] Optionally, determining the current speed of the second vehicle relative to the first vehicle includes determining the current observation information of the second vehicle and, based on the current observation information of the second vehicle, determining the current speed of the second vehicle relative to the first vehicle. Thus, when the first vehicle skids, the current speed of the second vehicle relative to the first vehicle can be observed, for example, by accurately observing the current speed of the second vehicle relative to the first vehicle using the millimeter-wave radar of the first vehicle.

[0153] Optionally, determining the current speed of the second vehicle includes determining the current speed of the second vehicle based on the current speed of the first vehicle and the current speed of the second vehicle relative to the first vehicle. Therefore, when the first vehicle skids, the current speed of the second vehicle can be accurately determined by considering both the more accurate current speed of the first vehicle and the current speed of the second vehicle relative to the first vehicle, allowing for accurate acquisition of the current speed of the second vehicle when the first vehicle skids.

[0154] For example, if the current speed VR of the second vehicle relative to the first vehicle is the current speed VG of the second vehicle minus the current speed Vego of the first vehicle, then the current speed VG of the second vehicle = VR + Vego.

[0155] In the first case, if the current speed vs of the target first object relative to the first vehicle is the current speed of the target first object minus the current speed Vego of the first vehicle, then it can be assumed that the current speed of the target first object is still zero, and the current speed Vego of the first vehicle is -vs.

[0156] Then the current speed of the second vehicle is VG = VR + Vego = VR - vs.

[0157] In the second scenario, if the current speed ve of the second target object relative to the first vehicle is the current speed of the second target object minus the current speed Vego of the first vehicle, and the fixed ground speed of the second target object is VEO, then it can be assumed that the current speed of the second target object is still VEO, and the current speed Vego of the first vehicle is VEO - ve.

[0158] Then the current speed of the second vehicle is VG = VR + Vego = VR + VEO - ve.

[0159] S204, controlling the speed of the first vehicle based on at least one of the parameters of the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle.

[0160] Understandably, when a vehicle skids, its speed may decrease, increasing the risk of collision with other vehicles and posing a high driving risk.

[0161] In this embodiment, when the first vehicle skids, at least one of the parameters—the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle—can be considered to control the speed of the first vehicle. Therefore, when the vehicle itself skids, at least one of the parameters—the current speed of other vehicles in the same lane relative to the vehicle and the current speed of other vehicles in the same lane—can be considered to control the speed of the vehicle, maintaining a safe distance between the vehicle and other vehicles in the same lane, avoiding collisions, improving driving safety, and optimizing the driving experience when the vehicle skids.

[0162] The speed of the first vehicle is controlled based on at least one of the parameters: the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle, including at least one of the following embodiments:

[0163] Method 1: Control the speed of the first vehicle based on the current speed of the second vehicle relative to the first vehicle.

[0164] Optionally, based on the current speed of the second vehicle relative to the first vehicle, the speed of the first vehicle is controlled. This includes determining whether the current speed of the second vehicle relative to the first vehicle exceeds a first preset threshold when the second vehicle is behind the first vehicle. If the current speed of the second vehicle relative to the first vehicle exceeds the first preset threshold, the first vehicle is controlled to accelerate to maintain a safe distance between the first and second vehicles. Therefore, when a vehicle skids, if the following vehicle has a higher current speed relative to it, the vehicle can be controlled to accelerate to maintain a safe distance between itself and the following vehicle, avoiding a collision and improving driving safety.

[0165] Optionally, based on the current speed of the second vehicle relative to the first vehicle, the speed of the first vehicle is controlled. This includes determining whether the current speed of the second vehicle relative to the first vehicle is less than a second preset threshold when the second vehicle is in front of the first vehicle. If the current speed of the second vehicle relative to the first vehicle is less than the second preset threshold, the first vehicle is controlled to decelerate to maintain a safe distance between the first and second vehicles. Therefore, when a vehicle skids, if the current speed of the vehicle in front is slower than the vehicle in front, the vehicle can be controlled to decelerate to maintain a safe distance between the vehicle and the vehicle in front, avoiding a collision and improving driving safety.

[0166] It should be noted that no restrictions are imposed on the first or second threshold values.

[0167] Method 2: Control the speed of the first vehicle based on the current speed of the second vehicle.

[0168] Optionally, the speed of the first vehicle is controlled based on the current speed of the second vehicle. This includes determining the driving state of the second vehicle based on its current speed and historical speed, and then controlling the speed of the first vehicle based on that driving state. Therefore, when the vehicle skids, the current and historical speeds of other vehicles in the same lane can be taken into account to determine their driving states and control the vehicle's speed.

[0169] It should be noted that there are no strict limitations on the vehicle's driving state; for example, it can include any driving state such as deceleration, acceleration, or constant speed driving.

[0170] Optionally, the speed of the first vehicle is controlled based on the driving state of the second vehicle, including controlling the speed of the first vehicle according to a speed control strategy corresponding to the driving state of the second vehicle. It is understood that there is a correspondence between the driving state of the second vehicle and the speed control strategy of the first vehicle.

[0171] Optionally, the method further includes controlling the first vehicle to accelerate when the second vehicle is behind the first vehicle and the second vehicle is accelerating, so as to maintain a safe distance between the first and second vehicles. Thus, when a vehicle skids, if the following vehicle accelerates, the driver can control the vehicle to accelerate to maintain a safe distance between the driver and the following vehicle, avoiding a collision and improving driving safety.

[0172] Optionally, the method further includes controlling the first vehicle to decelerate when the second vehicle is in front of the first vehicle and the second vehicle is decelerating, so as to maintain a safe distance between the first and second vehicles. Thus, when a vehicle skids, if the vehicle in front decelerates, the vehicle can be controlled to decelerate to maintain a safe distance between itself and the vehicle in front, avoiding a collision and improving driving safety.

[0173] Method 3: Control the speed of the first vehicle based on the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle.

[0174] Optionally, the driving speed of the first vehicle is controlled based on the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle. This includes determining the driving state of the second vehicle based on the current speed of the second vehicle and the historical speed of the second vehicle. If the second vehicle is behind the first vehicle, and the current speed of the second vehicle relative to the first vehicle is greater than a first preset threshold, and / or the second vehicle is in an accelerating state, the first vehicle is controlled to accelerate.

[0175] Alternatively, if the second vehicle is in front of the first vehicle, and the current speed of the second vehicle relative to the first vehicle is less than a second preset threshold, and / or the second vehicle is in a deceleration state, the first vehicle is controlled to decelerate.

[0176] Therefore, when a vehicle skids, if the vehicle behind it is moving faster than the vehicle behind it, and / or the vehicle behind it is accelerating, the driver can control the vehicle to accelerate in order to maintain a safe distance between the vehicle behind it and the vehicle behind it, thereby avoiding a collision and improving driving safety.

[0177] Alternatively, if the vehicle in front is moving slower than the vehicle in front and / or is slowing down when the vehicle is skidding, you can control the vehicle to slow down to maintain a safe distance between the vehicle and the vehicle in front, thus avoiding a collision and improving driving safety.

[0178] It should be noted that there are no strict limitations on the methods used to accelerate or decelerate the first vehicle. For example, the power system of the first vehicle can be controlled to perform automatic acceleration, and the braking system of the first vehicle can be controlled to perform automatic braking to decelerate. There are no strict limitations on the braking system; for example, it may include an AEB (Automatic Emergency Braking) system.

[0179] Optionally, when the powertrain of the first vehicle is performing automatic acceleration and the second vehicle is behind the first vehicle and is decelerating or traveling at a constant speed, the powertrain of the first vehicle can be controlled to stop performing automatic acceleration. Therefore, when the powertrain of one's own vehicle is performing automatic acceleration and the following vehicle is decelerating or traveling at a constant speed, the risk of a collision between the two vehicles disappears. Controlling the powertrain of one's own vehicle to stop automatic acceleration allows for timely cancellation of acceleration, avoiding unnecessary acceleration and negative driving experiences, thus optimizing the driving experience.

[0180] Optionally, when the braking system of the first vehicle is performing automatic braking, and the second vehicle is in front of the first vehicle and is accelerating or traveling at a constant speed, the braking system of the first vehicle can be controlled to stop performing automatic braking. Therefore, when the braking system of one's own vehicle is performing automatic braking and the vehicle in front is accelerating or traveling at a constant speed, the risk of collision between the two vehicles is eliminated. Controlling the braking system of one's own vehicle to stop automatic braking allows for timely cancellation of braking, avoiding unnecessary deceleration and improving the driving experience.

[0181] It should be noted that this disclosure does not impose any restrictions on the execution sequence of steps S201 to S204. Figure 2 The example only demonstrates the sequential execution of steps S201 to S204.

[0182] The vehicle speed determination method provided in this disclosure determines at least one of the following parameters: the current speed of a second vehicle relative to a first vehicle and the current speed of the second vehicle. The second vehicle and the first vehicle are located in the same lane. The speed of the first vehicle is controlled based on the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle. Therefore, when a vehicle skids, at least one of the current speeds of other vehicles in the same lane relative to the vehicle and the current speeds of other vehicles in the same lane can be considered to control the vehicle's speed, maintaining a safe distance between the vehicle and other vehicles in the same lane, avoiding collisions, improving driving safety, and optimizing the driving experience when the vehicle skids.

[0183] Figure 3 This is a flowchart illustrating a method for determining vehicle speed according to another exemplary embodiment, such as... Figure 3 As shown, the method for determining vehicle speed according to an embodiment of this disclosure includes the following steps.

[0184] S301, when the first vehicle is in a skidding state, determine the current observation information of the target object. The current observation information of the target object is used to indicate the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed when the first vehicle is not in a skidding state. The target object includes at least one of the target first object in a stationary state and the target second object in a state of uniform motion.

[0185] S302, based on the current observation information of the target object and the fixed ground velocity of the target object, determine the current speed of the first vehicle.

[0186] S303, determine at least one of the following parameters: the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle, wherein the second vehicle and the first vehicle are in the same lane.

[0187] S304, determine the driving status of the second vehicle based on the current speed of the second vehicle and the historical speed of the second vehicle.

[0188] S305, when the second vehicle is behind the first vehicle and the second vehicle is accelerating, control the first vehicle to accelerate in order to maintain the distance between the first vehicle and the second vehicle to meet the safety distance requirements.

[0189] S306, when the second vehicle is in front of the first vehicle and the second vehicle is decelerating, control the first vehicle to decelerate so as to maintain the distance between the first vehicle and the second vehicle to meet the safety distance requirements.

[0190] The relevant content of steps S301-S306 can be found in the above embodiments, and will not be repeated here.

[0191] It should be noted that this disclosure does not impose any restrictions on the execution sequence of steps S301 to S306. Figure 3 The example only demonstrates the sequential execution of steps S301 to S306. For instance, steps S301-S305 can be implemented as a standalone embodiment, and steps S301-S304 and S306 can be implemented as standalone embodiments.

[0192] Based on any of the above embodiments, when the second vehicle is in an accelerating state, at least one of the following operations is performed:

[0193] Turn on the hazard lights of the first vehicle;

[0194] Turn on the brake lights of the first vehicle;

[0195] Control the brake lights of the first vehicle to flash at a preset frequency or an increased frequency.

[0196] Therefore, when a vehicle skids, if a vehicle behind accelerates, the driver can activate the vehicle's hazard lights, control the brake lights to illuminate, and control the brake lights to flash at a preset or increased frequency to send a warning signal to the vehicle behind. This allows the vehicle behind to notice that the vehicle is skidding and take measures such as slowing down to maintain a safe distance between the two vehicles, thus avoiding a collision and improving driving safety.

[0197] Based on any of the above embodiments, when the second vehicle is in a decelerating state, at least one of the following operations is performed:

[0198] The horn of the first vehicle was sounded to start it;

[0199] Control the headlights of the first vehicle to flash;

[0200] Turn on the hazard lights of the first vehicle;

[0201] Turn on the brake lights of the first vehicle;

[0202] Control the brake lights of the first vehicle to flash at a preset frequency or an increased frequency.

[0203] Therefore, when your vehicle skids, if the vehicle in front slows down, you can sound your horn, flash your headlights, or activate your hazard lights to send a warning signal to the vehicle in front. This will make the vehicle in front aware that your vehicle is skidding and prompt it to take strategies such as accelerating to maintain a safe distance between your vehicle and the vehicle in front, thus avoiding a collision and improving driving safety.

[0204] In addition, the system can activate the vehicle's horn, hazard lights, brake lights, and brake lights to flash at a preset or increased frequency to send warning signals to vehicles behind, making them aware that the vehicle is skidding and prompting them to slow down to maintain a safe distance and avoid collisions, thus improving driving safety.

[0205] Figure 4 This is a flowchart illustrating a method for determining vehicle speed according to another exemplary embodiment, such as... Figure 4 As shown, the method for determining vehicle speed according to an embodiment of this disclosure includes the following steps.

[0206] S401, when the first vehicle is in a skidding state, determine the current observation information of the target object. The current observation information of the target object is used to indicate the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed when the first vehicle is not in a skidding state. The target object includes at least one of the target first object in a stationary state and the target second object in a state of uniform motion.

[0207] The details of step S401 can be found in the above embodiments and will not be repeated here.

[0208] S402, if a first target object exists, determine the current speed of the first vehicle based on the current observation information of the first target object.

[0209] S403, in the case where there is no first target object but there is a second target object, determine the current speed of the first vehicle based on the current observation information of the second target object and the fixed ground speed of the second target object.

[0210] It is understandable that an object at rest is more likely to remain at rest than an object moving at a constant speed for a short period of time. In other words, it is more likely that the ground velocity of the first object will remain zero when the first vehicle skids than when the ground velocity of the second object remains the same as the fixed ground velocity of the second object.

[0211] Based on the above analysis, it can be seen that compared with the scheme of determining the current speed of the first vehicle based on the current observation information of the second target object and the fixed ground velocity of the second target object, the scheme of determining the current speed of the first vehicle based on the current observation information of the first target object is more reliable and accurate.

[0212] In this embodiment, when a target first object exists, the current speed of the first vehicle is determined based on the current observation information of the target first object. That is, when a target stationary object exists, the current speed of the target stationary object relative to the first vehicle, as indicated by the current observation information of the target stationary object, can be used first to determine the current speed of the first vehicle.

[0213] Alternatively, if there is no first target object but there is a second target object, the current speed of the first vehicle can be determined based on the current observation information of the second target object and the fixed ground velocity of the second target object. That is, if there is no stationary target object but there is a target object moving at a constant speed, the current speed of the target object moving at a constant speed relative to the first vehicle, as indicated by the current observation information of the target object moving at a constant speed, and the fixed ground velocity of the target object moving at a constant speed can be taken into account to determine the current speed of the first vehicle.

[0214] It should be noted that the determination of the current speed of the first vehicle based on the current observation information of the first target object, and the determination of the current speed of the first vehicle based on the current observation information of the second target object and the fixed ground speed of the second target object, can all be found in the above embodiments, and will not be repeated here.

[0215] It should be noted that this disclosure does not impose any restrictions on the execution sequence of steps S401 to S403. Figure 4 The example only demonstrates the sequential execution of steps S401 to S403. For instance, steps S401-S402 can be implemented as a standalone embodiment, and steps S401 and S403 can be implemented as standalone embodiments.

[0216] The vehicle speed determination method provided in the embodiments of this disclosure determines the current speed of a first vehicle based on the current observation information of the first target object when a first target object exists; or, when a first target object does not exist but a second target object exists, the current speed of the first vehicle is determined based on the current observation information of the second target object and the fixed ground velocity of the second target object. Therefore, when a stationary target object exists, the current speed of the first vehicle can be determined primarily using the current speed of the stationary target object relative to the first vehicle indicated by the current observation information of the stationary target object. When a stationary target object does not exist but a target object moving at a constant speed exists, the current speed of the first vehicle can be determined by comprehensively considering the current speed of the target object moving at a constant speed relative to the first vehicle indicated by the current observation information of the target object moving at a constant speed, as well as the fixed ground velocity of the target object moving at a constant speed.

[0217] Figure 5 This is a flowchart illustrating a method for determining vehicle speed according to another exemplary embodiment, such as... Figure 5 As shown, the method for determining vehicle speed according to an embodiment of this disclosure includes the following steps.

[0218] S501, when the first vehicle is not in a slipping state, determine the historical observation information of each candidate object, and the historical observation information of the candidate object is used to indicate the historical speed of the candidate object relative to the first vehicle.

[0219] S502, Based on the historical observation information of each candidate object, determine the target object from among the candidate objects.

[0220] It should be noted that in this disclosure, the first vehicle is currently in a skidding state, the current observation information refers to the observation information collected when the first vehicle is skidding, and the historical observation information refers to the observation information collected before the first vehicle skids.

[0221] For example, while the first vehicle is not skidding, historical observation information of each candidate object can be continuously collected, and the target object can be determined from each candidate object based on the historical observation information of each candidate object. It is understood that the historical observation information may change over time, and the target object may also be updated in real time.

[0222] Optionally, the target object is the object whose fixed ground velocity was last observed when the first vehicle was not in a skidding state.

[0223] For example, if the first vehicle is not in a slipping state from time (tm) to (t-1), but is in a slipping state from time t to (t+n), then at time (t-1), the historical observation information of each candidate object from time (tm) to (t-1) can be determined, and based on the historical observation information of each candidate object from time (tm) to (t-1), the target object can be determined from each candidate object.

[0224] If the current time is time (t+n), at time (t+n), determine the current observation information of the target object at time (t+n), and based on the current observation information of the target object at time (t+n) and the fixed ground velocity of the target object, determine the velocity of the first vehicle at time (t+n), which is taken as the current velocity of the first vehicle.

[0225] In this embodiment, the target object is determined from each candidate object based on the historical observation information of each candidate object, including at least one of the following implementation methods:

[0226] Method 1: Based on the historical observation information of each candidate object, determine the first candidate object that is in a static state from among the candidate objects, and take the first candidate object as the first target object.

[0227] Alternatively, if the first candidate object satisfies the first condition, the first candidate object may be used as the first target object.

[0228] The first condition includes at least one of the following conditions:

[0229] The cumulative observation time of the first vehicle for the first candidate object is greater than the first set time.

[0230] The distance between the first candidate object and the first vehicle is greater than a first set distance.

[0231] It is understandable that if the cumulative observation time of the first candidate object is large, it means that the first vehicle has observed the first candidate object for a long time. The first vehicle can stably observe the first candidate object before skidding, so it is more likely that the first vehicle will continue to stably observe the first candidate object when it skids.

[0232] If the distance between the candidate first object and the first vehicle is large, it indicates that the candidate first object is far away from the first vehicle, which can ensure that the first vehicle can still observe the candidate first object while the first vehicle is skidding and continuing to move forward.

[0233] Therefore, when the first vehicle does not skid, the historical speed of each candidate object relative to the first vehicle can be determined from the candidate objects by taking into account the historical observation information of each candidate object. The candidate first object in a stationary state can be directly used as the target first object.

[0234] Alternatively, the candidate first object may be used as the target first object only when the cumulative observation time of the candidate first object is large, and / or the distance between the candidate first object and the vehicle is large. This ensures that the first vehicle can still observe the target first object when the first vehicle skids. Then, the current observation information of the target first object can be taken into account when the first vehicle skids to determine the current speed of the first vehicle. This allows the current speed of the first vehicle to be obtained accurately and reliably when the first vehicle skids.

[0235] It should be noted that there are no restrictions on the first set duration or the first set distance. For example, the first set duration can be 1 second and the first set distance can be 20 meters.

[0236] For example, when vehicle A is not skidding, historical observation information of guardrails, green belts, streetlights, vehicles B, and C at multiple times is acquired from the millimeter-wave radar of vehicle A. Based on this historical observation information, the guardrails, green belts, streetlights, vehicles B, and vehicles C that are stationary are identified from among them. It should be noted that in this embodiment, the first vehicle includes vehicle A, and the candidate first objects include guardrails, green belts, and streetlights.

[0237] In the first scenario, at least one of the following objects—guardrail, green belt, and streetlight—is selected as the primary target object.

[0238] In the second scenario, if the cumulative observation time of vehicle A's millimeter-wave radar for the guardrail, green belt, and streetlight is 2 seconds, 1.5 seconds, and 0.8 seconds respectively, and the distances between vehicle A and the guardrail, green belt, and streetlight are 25 meters, 18 meters, and 30 meters respectively, then the first condition includes the following:

[0239] The millimeter-wave radar of the first vehicle has a cumulative observation time of more than 1 second for the candidate first object;

[0240] The distance between the first candidate object and the first vehicle is greater than 20 meters.

[0241] It can be seen that the guardrail meets the first condition, while the green belt and street lights do not. Therefore, the guardrail can be taken as the first target.

[0242] Method 2: Based on the historical observation information of each candidate object, determine the candidate second object that is in a state of uniform motion from among the candidate objects, and take the candidate second object as the target second object.

[0243] Alternatively, if the candidate second object meets the second condition, the candidate second object can be used as the target second object.

[0244] The second condition includes at least one of the following conditions:

[0245] The cumulative observation time of the first vehicle for the candidate second object is greater than the second set time.

[0246] The distance between the second candidate object and the first vehicle is within a set distance range;

[0247] The speed of the second candidate object is greater than the set speed;

[0248] The acceleration of the second candidate object is less than the set acceleration;

[0249] The second candidate is a third vehicle located in a lane other than the lane occupied by the first vehicle.

[0250] It is understandable that if the cumulative observation time of the candidate second object is large, it indicates that the cumulative observation time of the candidate second object by the first vehicle is large, and the first vehicle can stably observe the candidate second object before skidding. Therefore, it is more likely that the first vehicle will continue to stably observe the candidate second object when it skids.

[0251] If the distance between the candidate second object and the first vehicle is within the set distance range, it indicates that the distance between the candidate second object and the first vehicle is appropriate, which can ensure that the first vehicle can still observe the candidate second object while it is skidding and continuing to move forward.

[0252] If the speed of the candidate second object is greater than the set speed, it indicates that the speed of the candidate second object is relatively large. This avoids the situation where the speed of the candidate second object is relatively small, which may prevent the first vehicle from accurately observing the speed of the candidate second object relative to the first vehicle. This ensures that when the first vehicle skids, the first vehicle can accurately observe the current speed of the candidate second object relative to the first vehicle, which helps to improve the accuracy of the current speed of the first vehicle.

[0253] If the acceleration of the candidate second object is less than the set acceleration, it indicates that the acceleration of the candidate second object is small, and it can be assumed that the candidate second object is in a state of uniform motion for a short period of time.

[0254] If the candidate second object is a third vehicle located in a lane other than the lane where the first vehicle is located, that is, the candidate second object is not located in the same lane as the first vehicle, it is understandable that the skidding of the vehicle is often a manifestation of following the braking of the vehicle in front. The vehicle in front refers to the vehicle located in the same lane as the vehicle and in front of the vehicle. It is less likely that the vehicle in front is in a state of uniform motion when the vehicle skids, so it is not appropriate to assume that the vehicle in front is in a state of uniform motion.

[0255] Therefore, when the first vehicle does not slip, the historical speed of each candidate object relative to the first vehicle can be determined from the candidate objects, and the candidate second object in uniform motion can be directly used as the target second object, taking into account the historical observation information of each candidate object.

[0256] Alternatively, the candidate second object may be designated as the target second object only when the cumulative observation time of the candidate second object is relatively long, and / or the distance between the candidate second object and the vehicle is within a set distance range, and / or the speed of the candidate second object is relatively high, and / or the acceleration of the candidate second object is relatively low, and / or the candidate second object and the first vehicle are not located in the same lane. This ensures that the first vehicle can still observe the target second object when it skids. Furthermore, when the first vehicle skids, the current observation information of the target second object is taken into account to determine the current speed of the first vehicle. This allows for accurate and reliable acquisition of the current speed of the first vehicle when it skids.

[0257] It should be noted that there are no restrictions on the second set duration, set distance range, set speed, and set acceleration. For example, the second set duration can be 1 second, the set distance range can be 10 to 50 meters, the set speed can be 20 kilometers per hour, and the set acceleration can be 1 meter per second.

[0258] For example, when vehicle A is not skidding, historical observation information of guardrails, green belts, streetlights, vehicles B, and C collected by millimeter-wave radar at multiple times is obtained. Based on this historical observation information, vehicles B and C, which are in uniform motion, are identified from among the guardrails, green belts, streetlights, vehicles B, and C. It should be noted that in this embodiment, the first vehicle includes vehicle A, and the candidate second objects include vehicles B and C.

[0259] In the first case, at least one of vehicle B and vehicle C is designated as the target second object.

[0260] In the second scenario, if the cumulative observation time of vehicle A's millimeter-wave radar for vehicles B and C is 2 seconds and 0.8 seconds respectively, the distances between vehicle B and vehicle C and vehicle A are 25 meters and 18 meters respectively, the speeds of vehicle B and vehicle C are 25 km / h and 30 km / h respectively, the accelerations of vehicle B and vehicle C are 0.8 m / s² and 0.5 m / s² respectively, and both vehicle B and vehicle C are located in the adjacent lane to the lane occupied by vehicle A.

[0261] The second condition includes the following:

[0262] The millimeter-wave radar of the first vehicle has a cumulative observation time of more than 1 second for the candidate second object;

[0263] The distance between the second candidate and the first vehicle is between 10 and 50 meters;

[0264] The speed of the second candidate object is greater than 20 km / h;

[0265] The acceleration of the second candidate object is less than 1 m / s².

[0266] The second candidate is a third vehicle located in a lane other than the lane occupied by the first vehicle.

[0267] It can be seen that vehicle B meets the second condition, while vehicle C does not. Therefore, vehicle B can be taken as the target second object.

[0268] S503, when the first vehicle is in a skidding state, determine the current observation information of the target object. The current observation information of the target object is used to indicate the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed when the first vehicle is not in a skidding state. The target object includes at least one of the target first object in a stationary state and the target second object in a state of uniform motion.

[0269] S504, based on the current observation information of the target object and the fixed ground velocity of the target object, determine the current speed of the first vehicle.

[0270] The relevant content of steps S503-S504 can be found in the above embodiments, and will not be repeated here.

[0271] It should be noted that this disclosure does not impose any restrictions on the execution sequence of steps S501 to S504. Figure 5 The example only demonstrates the sequential execution of steps S501 to S504.

[0272] The vehicle speed determination method provided in the embodiments of this disclosure determines historical observation information of each candidate object when the first vehicle is not in a skidding state. This historical observation information indicates the historical speed of each candidate object relative to the first vehicle. Based on this historical observation information, a target object is determined from among the candidate objects. Therefore, compared to the ground speed of candidate objects observed when the first vehicle is skidding, the ground speed of candidate objects observed before the first vehicle skids is more accurate, thus allowing for accurate determination of objects with a fixed ground speed, and consequently, accurate determination of the target object and its fixed ground speed.

[0273] Based on any of the above embodiments, the method further includes determining the current speed of the first vehicle based on its current wheel speed when the first vehicle is in a skidding state and no target object is present, or when the first vehicle is not in a skidding state. Thus, if no object with a fixed ground speed is observed before the first vehicle skids, the current speed of the first vehicle can be determined by taking into account its current wheel speed when the first vehicle is skidding; or, if the first vehicle is not skidding, the current speed of the first vehicle can be determined by taking into account its current wheel speed.

[0274] Figure 6 This is a flowchart illustrating a method for determining vehicle speed according to another exemplary embodiment, such as... Figure 6 As shown, the method for determining vehicle speed according to an embodiment of this disclosure includes the following steps.

[0275] S601, determine whether the first vehicle is in a slippery state.

[0276] If yes, meaning the first vehicle is in a skidding state, then proceed to step S602; if no, meaning the first vehicle is not in a skidding state, then proceed to step S606.

[0277] S602, Determine if the target first object exists.

[0278] If yes, that is, the first target object exists, then proceed to step S603; if no, that is, the first target object does not exist, then proceed to step S604.

[0279] S603, based on the current observation information of the first target object, determine the current speed of the first vehicle.

[0280] S604, Determine if a target second object exists.

[0281] If yes, that is, a second target object exists, then proceed to step S605; if no, that is, a second target object does not exist, then proceed to step S606.

[0282] S605, based on the current observation information of the second target object and the fixed ground velocity of the second target object, determine the current speed of the first vehicle.

[0283] S606, determine the current speed of the first vehicle based on the current wheel speed of the first vehicle.

[0284] S607, determine the current speed of the second vehicle based on the current speed of the first vehicle and the current speed of the second vehicle relative to the first vehicle.

[0285] S608 controls the first vehicle based on the current speed of the second vehicle.

[0286] The relevant content of steps S601-S608 can be found in the above embodiments, and will not be repeated here.

[0287] It should be noted that this disclosure does not impose any restrictions on the execution sequence of steps S601 to S608. Figure 6 The example only demonstrates the sequential execution of steps S601 to S608.

[0288] Figure 7 This is a schematic diagram illustrating the structure of a vehicle speed determining device according to an exemplary embodiment. (Refer to...) Figure 7 The vehicle speed determination device 100 of this disclosure includes: a first determination module 110 and a second determination module 120.

[0289] The first determining module 110 is configured to determine the current observation information of a target object when the first vehicle is in a skidding state. The current observation information of the target object is used to indicate the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed when the first vehicle is not in a skidding state. The target object includes at least one of a stationary target first object and a target second object in uniform motion.

[0290] The second determining module 120 is configured to determine the current speed of the first vehicle based on the current observation information of the target object and the fixed ground speed of the target object.

[0291] In some possible implementations, the device 100 further includes a control module, which, after determining the current speed of the first vehicle, is configured to: determine at least one of the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle; wherein the second vehicle is in the same lane as the first vehicle; and control the speed of the first vehicle based on at least one of the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle.

[0292] In some possible implementations, the control module is further configured to: determine the driving state of the second vehicle based on the current speed and the historical speed of the second vehicle; and control the first vehicle to accelerate when the second vehicle is behind the first vehicle and the second vehicle is accelerating, so as to maintain the distance between the first vehicle and the second vehicle to meet the safety distance requirements.

[0293] In some possible implementations, when the second vehicle is accelerating, the control module is further configured to perform at least one of the following operations:

[0294] Turn on the hazard lights of the first vehicle;

[0295] Control the brake lights of the first vehicle to illuminate;

[0296] Control the brake lights of the first vehicle to flash at a preset frequency or an increased frequency.

[0297] In some possible implementations, the control module is further configured to: determine the driving state of the second vehicle based on the current speed and the historical speed of the second vehicle; and control the first vehicle to decelerate when the second vehicle is in front of the first vehicle and the second vehicle is in a deceleration state, so as to maintain the distance between the first vehicle and the second vehicle to meet the safety distance requirements.

[0298] In some possible implementations, when the second vehicle is in a decelerating state, the control module is further configured to perform at least one of the following operations:

[0299] The horn of the first vehicle is activated and sounds.

[0300] Control the headlights of the first vehicle to flash;

[0301] Turn on the hazard lights of the first vehicle;

[0302] Control the brake lights of the first vehicle to illuminate;

[0303] Control the brake lights of the first vehicle to flash at a preset frequency or an increased frequency.

[0304] In some possible implementations, the second determining module 120 is further configured to: determine the current speed of the first vehicle based on the current observation information of the first target object when the first target object exists; or, determine the current speed of the first vehicle based on the current observation information of the second target object and the fixed ground speed of the second target object when the first target object does not exist and the second target object exists.

[0305] In some possible implementations, the first determining module 110 is further configured to: determine historical observation information of each candidate object when the first vehicle is not in a skidding state, the historical observation information of the candidate object being used to indicate the historical speed of the candidate object relative to the first vehicle; and determine the target object from the candidate objects based on the historical observation information of each candidate object.

[0306] In some possible implementations, the first determining module 110 is further configured to: determine a candidate first object in a static state from among the candidate objects based on the historical observation information of each candidate object; designate the candidate first object as the target first object; or, designate the candidate first object as the target first object if the candidate first object meets a first condition.

[0307] The first condition includes at least one of the following conditions:

[0308] The cumulative observation duration of the first vehicle for the candidate first object is greater than a first preset duration;

[0309] The distance between the first candidate object and the first vehicle is greater than a first predetermined distance.

[0310] In some possible implementations, the first determining module 110 is further configured to: determine a candidate second object in uniform motion from among the candidate objects based on the historical observation information of each candidate object; use the candidate second object as the target second object; or, if the candidate second object satisfies a second condition, use the candidate second object as the target second object.

[0311] The second condition includes at least one of the following conditions:

[0312] The cumulative observation duration of the first vehicle for the candidate second object is greater than the second preset duration;

[0313] The distance between the candidate second object and the first vehicle is within a set distance range;

[0314] The speed of the second candidate object is greater than the set speed;

[0315] The acceleration of the candidate second object is less than the set acceleration;

[0316] The candidate second object is a third vehicle located in a lane other than the lane where the first vehicle is located.

[0317] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0318] The vehicle speed determination apparatus provided in the embodiments of this disclosure determines the current observation information of a target object when the first vehicle is in a skidding state. This current observation information indicates the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed even when the first vehicle is not skidding. Based on the current observation information and the fixed ground speed of the target object, the current speed of the first vehicle is determined. Therefore, the target object and its fixed ground speed can be accurately determined before the first vehicle skids. When the first vehicle skids, the current speed of the first vehicle can be determined by comprehensively considering both the current observation information and the fixed ground speed of the target object, thus enabling accurate acquisition of the current speed of the first vehicle when it is skidding.

[0319] Furthermore, driving decisions for the first vehicle can be made based on its current speed. Since this disclosure can accurately obtain the current speed of the first vehicle when it skids, it helps to improve the accuracy of driving decisions, thereby improving driving safety and comfort, and optimizing the driving experience when the vehicle skids.

[0320] To implement the above embodiments, this disclosure also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the vehicle speed determination method provided in this disclosure.

[0321] Optionally, the electronic devices include vehicle terminals, vehicle controllers, servers, etc.

[0322] Alternatively, the electronic device can be a server device or a standalone processing platform.

[0323] To implement the above embodiments, this disclosure also proposes a vehicle, including a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the method for determining vehicle speed provided in this disclosure.

[0324] Figure 8This is a schematic diagram illustrating the structure of a vehicle according to an exemplary embodiment. For example, vehicle 200 can be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 200 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0325] Reference Figure 8 The vehicle 200 may include various subsystems, such as an infotainment system 210, a perception system 220, a decision control system 230, a drive system 240, and a computing platform 250. The vehicle 200 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the vehicle 200 can be interconnected via wired or wireless means.

[0326] In some embodiments, the infotainment system 210 may include a communication system, an entertainment system, and a navigation system, etc.

[0327] The perception system 220 may include several types of sensors for sensing information about the environment surrounding the vehicle 200. For example, the perception system 220 may include a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0328] The decision control system 230 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0329] The drive system 240 may include components that provide powered motion to the vehicle 200. In one embodiment, the drive system 240 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0330] Some or all of the functions of vehicle 200 are controlled by computing platform 250. Computing platform 250 may include at least one processor 251 and memory 252, and processor 251 may execute instructions 253 stored in memory 252.

[0331] Processor 251 can be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0332] The memory 252 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0333] In addition to instruction 253, memory 252 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 252 can be used by computing platform 250.

[0334] In this embodiment of the disclosure, processor 251 may execute instructions 253 to implement all or part of the steps of the vehicle speed determination method provided in this disclosure.

[0335] In this embodiment of the vehicle, when the first vehicle is in a skidding state, the current observation information of a target object is determined. This current observation information indicates the target object's current speed relative to the first vehicle. The target object is an object whose fixed ground speed was observed even when the first vehicle was not skidding. Based on the target object's current observation information and its fixed ground speed, the current speed of the first vehicle is determined. Therefore, the target object and its fixed ground speed can be accurately determined before the first vehicle skids. When the first vehicle skids, the current speed of the first vehicle can be determined by comprehensively considering both the target object's current observation information and its fixed ground speed, thus enabling accurate acquisition of the first vehicle's current speed even when it is skidding.

[0336] Furthermore, driving decisions for the first vehicle can be made based on its current speed. Since this disclosure can accurately obtain the current speed of the first vehicle when it skids, it helps to improve the accuracy of driving decisions, thereby improving driving safety and comfort, and optimizing the driving experience when the vehicle skids.

[0337] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the steps of the vehicle speed determination method provided in this disclosure.

[0338] Alternatively, the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0339] To implement the above embodiments, this disclosure also proposes a chip including an interface circuit and a processing circuit coupled to each other, the interface circuit being used to input or output signals, and the processing circuit being configured to implement the steps of the vehicle speed determination method provided in this disclosure.

[0340] Figure 9 This is a schematic diagram illustrating the structure of a chip according to an exemplary embodiment. See also... Figure 9 The diagram shown is a schematic representation of the structure of chip 300, but is not limited thereto.

[0341] Chip 300 includes processing circuitry 310, which is configured to perform any of the above methods for determining vehicle speed.

[0342] In some embodiments, the chip 300 further includes one or more interface circuits 320. Optionally, the interface circuit 320 is connected to the memory 330, and the interface circuit 320 can be used to receive signals from the memory 330 or other devices, and the interface circuit 320 can be used to send signals to the memory 330 or other devices. For example, the interface circuit 320 can read instructions stored in the memory 330 and send the instructions to the processing circuit 310.

[0343] In some embodiments, the interface circuit 320 performs at least one of the communication steps such as sending and / or receiving in the above method, and the processing circuit 310 performs other steps.

[0344] In some embodiments, the terms interface circuit, interface, transceiver pin, transceiver, etc., can be used interchangeably.

[0345] In some embodiments, chip 300 further includes one or more memories 330 for storing instructions. Optionally, all or part of the memories 330 may be located outside of chip 300.

[0346] To implement the above embodiments, this disclosure also proposes a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle speed determination method provided in this disclosure.

[0347] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0348] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for determining vehicle speed, characterized in that, include: When the first vehicle is in a skidding state, the current observation information of the target object is determined. The current observation information of the target object is used to indicate the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed when the first vehicle is not in a skidding state. The target object includes at least one of a stationary target first object and a target second object in uniform motion. Based on the current observation information of the target object and the fixed ground speed of the target object, the current speed of the first vehicle is determined.

2. The method according to claim 1, characterized in that, After determining the current speed of the first vehicle, the method further includes: Determine at least one of the following parameters: the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle; wherein the second vehicle is in the same lane as the first vehicle; The speed of the first vehicle is controlled based on at least one of the parameters: the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle.

3. The method according to claim 2, characterized in that, Controlling the speed of the first vehicle based on at least one of the parameters, namely the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle, includes: The driving status of the second vehicle is determined based on its current speed and its historical speed. When the second vehicle is behind the first vehicle and the second vehicle is accelerating, the first vehicle is controlled to accelerate in order to maintain a safe distance between the first vehicle and the second vehicle.

4. The method according to claim 3, characterized in that, The method further includes: When the second vehicle is accelerating, perform at least one of the following operations: Turn on the hazard lights of the first vehicle; Control the brake lights of the first vehicle to illuminate; Control the brake lights of the first vehicle to flash at a preset frequency or an increased frequency.

5. The method according to claim 2, characterized in that, Controlling the speed of the first vehicle based on at least one of the parameters, namely the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle, includes: The driving status of the second vehicle is determined based on its current speed and its historical speed. When the second vehicle is in front of the first vehicle and the second vehicle is decelerating, the first vehicle is controlled to decelerate in order to maintain a safe distance between the first vehicle and the second vehicle.

6. The method according to claim 5, characterized in that, The method further includes: When the second vehicle is decelerating, perform at least one of the following operations: The horn of the first vehicle is activated and sounds. Control the headlights of the first vehicle to flash; Turn on the hazard lights of the first vehicle; Control the brake lights of the first vehicle to illuminate; Control the brake lights of the first vehicle to flash at a preset frequency or an increased frequency.

7. The method according to any one of claims 1-6, characterized in that, Determining the current speed of the first vehicle based on the current observation information of the target object and the fixed ground velocity of the target object includes: If the first target object exists, the current speed of the first vehicle is determined based on the current observation information of the first target object; or, In the case where the first target object does not exist, but the second target object does exist, the current speed of the first vehicle is determined based on the current observation information of the second target object and the fixed ground speed of the second target object.

8. The method according to any one of claims 1-6, characterized in that, The method further includes: When the first vehicle is not in a skidding state, the historical observation information of each candidate object is determined, and the historical observation information of the candidate object is used to indicate the historical speed of the candidate object relative to the first vehicle. The target object is determined from the candidate objects based on their historical observation information.

9. The method according to claim 8, characterized in that, The step of determining the target object from the candidate objects based on their historical observation information includes: Based on the historical observation information of each candidate object, a first candidate object in a static state is determined from the candidate objects. Use the candidate first object as the target first object; or... If the candidate first object satisfies the first condition, the candidate first object shall be adopted as the target first object; The first condition includes at least one of the following conditions: The cumulative observation duration of the first vehicle for the candidate first object is greater than a first preset duration; The distance between the first candidate object and the first vehicle is greater than a first predetermined distance.

10. The method according to claim 8, characterized in that, The method further includes: Based on the historical observation information of each candidate object, a second candidate object in a state of uniform motion is determined from the candidate objects. Use the candidate second object as the target second object; or... If the candidate second object satisfies the second condition, the candidate second object shall be used as the target second object; The second condition includes at least one of the following conditions: The cumulative observation duration of the first vehicle for the candidate second object is greater than the second preset duration; The distance between the candidate second object and the first vehicle is within a set distance range; The speed of the second candidate object is greater than the set speed; The acceleration of the candidate second object is less than the set acceleration; The candidate second object is a third vehicle located in a lane other than the lane where the first vehicle is located.

11. A device for determining vehicle speed, characterized in that, include: The first determining module is configured to determine the current observation information of a target object when the first vehicle is in a skidding state. The current observation information of the target object is used to indicate the current speed of the target object relative to the first vehicle. The target object is an object whose fixed ground speed has been observed when the first vehicle is not in a skidding state. The target object includes at least one of a stationary target first object and a target second object in uniform motion. The second determining module is configured to determine the current speed of the first vehicle based on the current observation information of the target object and the fixed ground speed of the target object.

12. The apparatus according to claim 11, characterized in that, The device further includes a control module, which, after determining the current speed of the first vehicle, is configured to: Determine at least one of the following parameters: the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle; wherein the second vehicle is in the same lane as the first vehicle; The speed of the first vehicle is controlled based on at least one of the parameters: the current speed of the second vehicle relative to the first vehicle and the current speed of the second vehicle.

13. The apparatus according to claim 12, characterized in that, The control module is also configured to: The driving status of the second vehicle is determined based on its current speed and its historical speed. When the second vehicle is behind the first vehicle and the second vehicle is accelerating, the first vehicle is controlled to accelerate in order to maintain a safe distance between the first vehicle and the second vehicle.

14. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the method according to any one of claims 1-10.

15. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured as follows: The steps of implementing the method according to any one of claims 1-10.

16. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When executed by a processor, the program instructions implement the steps of the method described in any one of claims 1-10.

17. A chip, characterized in that, The chip includes an interface circuit and a processing circuit coupled to each other. The interface circuit is used to input or output signals, and the processing circuit is configured to implement the steps of the method according to any one of claims 1-10.

18. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-10.

Images