Vehicle control method, device and vehicle

Abstract

The present disclosure relates to a vehicle control method, device, and vehicle, which are applied to a first vehicle. The method includes: obtaining driving information of the first vehicle, the driving information including the driving speed of the first vehicle; obtaining measurement information, the measurement information including the relative speed between the first vehicle and a second vehicle, the second vehicle being the vehicle in front of the first vehicle; if the relative speed is zero, sending a first instruction to a control center so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction, the first instruction being used to instruct the second vehicle to accelerate or travel at a constant speed; if the relative speed is greater than zero, controlling the first vehicle based on the relative speed and the driving speed. The present disclosure controls the driving of the first vehicle and the second vehicle respectively based on the relative speed between the first vehicle and the second vehicle and the driving speed of the first vehicle, thereby avoiding vehicle collisions and improving the safety of vehicle driving.

Description

Technical Field

[0001] The present disclosure relates to the field of electronic control technology, and in particular, to a vehicle control method, a vehicle control device, and a vehicle. Background Art

[0002] With the continuous development of autonomous driving technology, more and more vehicles are being equipped with autonomous driving systems. Typically, autonomous vehicles monitor the road ahead in real time. If other vehicles ahead of them are disrupting their normal operation, they can slow down or brake to ensure safe driving. However, autonomous driving systems can only control the vehicle's movement; slowing down or braking the vehicle is not enough to ensure safe driving. Summary of the Invention

[0003] The purpose of the present disclosure is to provide a vehicle control method, device and vehicle, so as to solve the problem of low vehicle driving safety in the prior art.

[0004] To achieve the above objectives, according to a first aspect of an embodiment of the present disclosure, a vehicle control method is provided, which is applied to a first vehicle. The method includes:

[0005] Acquiring driving information of a first vehicle, the driving information including a driving speed of the first vehicle;

[0006] Acquiring measurement information, the measurement information including a relative speed between the first vehicle and a second vehicle, the second vehicle being a vehicle ahead of the first vehicle;

[0007] If the relative speed is zero, sending a first instruction to a control center, so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction, wherein the first instruction is used to instruct the second vehicle to accelerate or travel at a constant speed;

[0008] If the relative speed is greater than zero, the first vehicle is controlled according to the relative speed and the driving speed.

[0009] Optionally, the measurement information further includes: a target distance between the first vehicle and the second vehicle; and the driving information further includes: road condition information and a level corresponding to the driving speed;

[0010] If the relative speed is greater than zero, controlling the first vehicle according to the relative speed and the driving speed includes:

[0011] If the relative speed is greater than the driving speed, the first vehicle is controlled to brake according to the level corresponding to the driving speed, and a second instruction is sent to the control center, so that the control center sends the second instruction to the second vehicle, and the second vehicle executes the second instruction, wherein the second instruction is used to instruct the second vehicle to brake;

[0012] If the relative speed is equal to the driving speed, the first vehicle is controlled to decelerate according to the target distance and the road condition information.

[0013] Optionally, the measurement information further includes: a target distance between the first vehicle and the second vehicle; and the driving information further includes: a level corresponding to the driving speed;

[0014] If the relative speed is greater than zero, controlling the first vehicle according to the relative speed and the driving speed includes:

[0015] If the relative speed is less than the driving speed, determining a theoretical braking distance of the first vehicle according to the driving speed;

[0016] When the theoretical braking distance is greater than or equal to the target distance, the first vehicle is braked according to the level corresponding to the driving speed, and a third instruction is sent to the control center, so that the control center sends the third instruction to the second vehicle, and the second vehicle executes the third instruction. The third instruction is used to instruct the second vehicle to accelerate.

[0017] Optionally, if the relative speed is greater than zero, controlling the first vehicle according to the relative speed and the driving speed further includes:

[0018] When the theoretical braking distance is less than the target distance, determining a distance threshold according to the driving speed and a preset delay time;

[0019] If the difference between the target distance and the theoretical braking distance is greater than the distance threshold, controlling the first vehicle to decelerate or travel at a constant speed;

[0020] If the difference between the target distance and the theoretical braking distance is equal to the distance threshold, controlling the first vehicle to brake according to the highest gear of the first vehicle;

[0021] If the difference between the target distance and the theoretical braking distance is less than the distance threshold, the first vehicle is controlled to brake according to the maximum braking deceleration, and a fourth instruction is sent to the control center, so that the control center sends the fourth instruction to the second vehicle, and the second vehicle executes the fourth instruction. The fourth instruction is used to instruct the second vehicle to accelerate or travel at a constant speed.

[0022] Optionally, the method further includes:

[0023] The driving information and the measurement information are sent to the control center, so that the control center controls the second vehicle according to the driving information and the measurement information.

[0024] According to a second aspect of an embodiment of the present disclosure, a vehicle control device is provided, applied to a first vehicle, the device comprising:

[0025] A first acquisition module is configured to acquire driving information of a first vehicle, wherein the driving information includes a driving speed of the first vehicle;

[0026] a second acquisition module, configured to acquire measurement information, the measurement information including a relative speed between the first vehicle and a second vehicle, the second vehicle being a vehicle in front of the first vehicle;

[0027] a sending module, configured to send a first instruction to a control center if the relative speed is zero, so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction, wherein the first instruction is used to instruct the second vehicle to accelerate or travel at a constant speed;

[0028] A control module is configured to control the first vehicle according to the relative speed and the driving speed if the relative speed is greater than zero.

[0029] Optionally, the measurement information further includes: a target distance between the first vehicle and the second vehicle; and the driving information further includes: road condition information and a level corresponding to the driving speed;

[0030] The control module is used for:

[0031] If the relative speed is greater than the driving speed, the first vehicle is controlled to brake according to the level corresponding to the driving speed, and a second instruction is sent to the control center, so that the control center sends the second instruction to the second vehicle, and the second vehicle executes the second instruction, wherein the second instruction is used to instruct the second vehicle to brake;

[0032] If the relative speed is equal to the driving speed, the first vehicle is controlled to decelerate according to the target distance and the road condition information.

[0033] Optionally, the measurement information further includes: a target distance between the first vehicle and the second vehicle; and the driving information further includes: a level corresponding to the driving speed;

[0034] The control module is used for:

[0035] If the relative speed is less than the driving speed, determining a theoretical braking distance of the first vehicle according to the driving speed;

[0036] When the theoretical braking distance is greater than or equal to the target distance, the first vehicle is braked according to the level corresponding to the driving speed, and a third instruction is sent to the control center, so that the control center sends the third instruction to the second vehicle, and the second vehicle executes the third instruction. The third instruction is used to instruct the second vehicle to accelerate.

[0037] Optionally, the control module is further configured to:

[0038] When the theoretical braking distance is less than the target distance, determining a distance threshold according to the driving speed and a preset delay time;

[0039] If the difference between the target distance and the theoretical braking distance is greater than the distance threshold, controlling the first vehicle to decelerate or travel at a constant speed;

[0040] If the difference between the target distance and the theoretical braking distance is equal to the distance threshold, controlling the first vehicle to brake according to the highest gear of the first vehicle;

[0041] If the difference between the target distance and the theoretical braking distance is less than the distance threshold, the first vehicle is controlled to brake according to the maximum braking deceleration, and a fourth instruction is sent to the control center, so that the control center sends the fourth instruction to the second vehicle, and the second vehicle executes the fourth instruction. The fourth instruction is used to instruct the second vehicle to accelerate or travel at a constant speed.

[0042] Optionally, the sending module is further configured to:

[0043] The driving information and the measurement information are sent to the control center, so that the control center controls the second vehicle according to the driving information and the measurement information.

[0044] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, wherein a controller is provided on the vehicle, and the controller is used to execute the steps of any one of the methods described in the first aspect of the embodiment of the present disclosure.

[0045] Through the above technical solution, in the present disclosure, the first vehicle first obtains driving information including the driving speed of the first vehicle, and then obtains measurement information including the relative speed between the first vehicle and a second vehicle, wherein the second vehicle is the vehicle in front of the first vehicle. Then, the relative speed between the first vehicle and the second vehicle is judged. If the relative speed is equal to zero, a first instruction for instructing the second vehicle to accelerate or travel at a constant speed is sent to the control center, so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction. If the relative speed is greater than zero, the first vehicle is controlled according to the relative speed and the driving speed. The present disclosure controls the driving of the first vehicle and the second vehicle respectively according to the relative speed between the first vehicle and the second vehicle and the driving speed of the first vehicle, which can avoid vehicle collisions and improve the safety of vehicle driving.

[0046] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0048] Figure 1 is a flow chart showing a method for controlling a vehicle according to an exemplary embodiment;

[0049] Figure 2 is a flow chart showing another method for controlling a vehicle according to an exemplary embodiment;

[0050] Figure 3 is a flow chart showing another method for controlling a vehicle according to an exemplary embodiment;

[0051] Figure 4 is a flow chart showing another method for controlling a vehicle according to an exemplary embodiment;

[0052] Figure 5 is a flow chart showing another method for controlling a vehicle according to an exemplary embodiment;

[0053] Figure 6 is a block diagram of a vehicle control device according to an exemplary embodiment;

[0054] Figure 7 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent the same or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of methods and apparatus consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0056] Before introducing the vehicle control method, device, and vehicle provided by the present disclosure, the application scenarios involved in each embodiment of the present disclosure are first introduced. The application scenario may include a control center and multiple vehicles that can be controlled by the control center, and the multiple vehicles may include a first vehicle and a second vehicle. The first vehicle is any vehicle among the multiple vehicles, and the second vehicle is the vehicle in front of the first vehicle among the multiple vehicles. Communication between the first vehicle and the control center, and between the second vehicle and the control center, can be achieved through any of WLAN (Wireless Local Area Networks), Telematics (Automotive Information Service), V2X (Vehicle to Everything), 4G (4th Generation Mobile Communication Technology), and 5G (5th Generation Mobile Communication Technology) protocols to achieve data transmission. Data transmission can also be achieved through radar signals, etc., which is not limited by the present disclosure. The control center can be any type of terminal, such as a tablet computer, smart TV, PDA (Personal Digital Assistant), portable computer, large-screen monitor, or a fixed terminal such as a desktop computer. The first and second vehicles can be automobiles, but are not limited to traditional automobiles, pure electric vehicles, or hybrid vehicles. They can also be trains, high-speed trains, subways, light rail, and other rail transit vehicles. In addition, the vehicle control methods and devices provided herein can also be applied to other types of motor vehicles and non-motor vehicles.

[0057] Figure 1 is a flow chart showing a method for controlling a vehicle according to an exemplary embodiment. Figure 1 As shown, the method is applied to a first vehicle and includes the following steps:

[0058] Step 101: Acquire driving information of a first vehicle, where the driving information includes a driving speed of the first vehicle.

[0059] Step 102 : Acquire measurement information, where the measurement information includes a relative speed between a first vehicle and a second vehicle, where the second vehicle is a vehicle in front of the first vehicle.

[0060] For example, while the first vehicle is traveling, driving information of the first vehicle can be obtained via a control unit, a humidity sensor, a driving recorder, etc., located on the first vehicle. The driving information of the first vehicle may include the first vehicle's speed, as well as road condition information of the first vehicle and the gear position corresponding to the first vehicle's speed. The road condition information may reflect the smoothness of the road on which the first vehicle is traveling (for example, a road condition of "1" indicates that the road on which the first vehicle is traveling is dry, while a road condition of "0" indicates that the road on which the first vehicle is traveling is slippery). The gear position may indicate the gear position corresponding to the first vehicle's speed (for example, a gear position of 1 indicates that the gear position corresponding to the first vehicle's speed is 1st gear). The first vehicle's speed and the gear position corresponding to the first vehicle's speed can be determined by a control unit. The control unit may be an MCU (Microcontroller Unit), an ECU (Electronic Control Unit), or a BCM (Body Control Module). The control unit may be located separately on the first vehicle or within another device in the first vehicle (for example, a driving recorder or radar detector). The road condition information of the first vehicle can be determined by a humidity sensor, a driving recorder, etc. The humidity sensor can be a sensor of ceramic, organic polymer, semiconductor, electrolyte, etc. When judging the road condition information of the first vehicle, the humidity of the road where the first vehicle is located can be detected by the humidity sensor. If the humidity sensor detects that the humidity of the road where the first vehicle is located is greater than a preset humidity threshold, it means that the road where the first vehicle is located is wet and slippery. If the humidity sensor detects that the humidity of the road where the first vehicle is located is less than or equal to the preset humidity threshold, it means that the road where the first vehicle is located is dry. The road condition information of the first vehicle can also be judged by the driving recorder. For example, it can be judged whether there are multiple water accumulation areas in the image captured by the driving recorder. If the number of water accumulation areas in the image captured by the driving recorder exceeds the preset number, it means that the road where the first vehicle is located is wet and slippery. If the number of water accumulation areas in the image captured by the driving recorder does not exceed the preset number, it means that the road where the first vehicle is located is dry.

[0061] While obtaining the driving information of the first vehicle, the detection devices such as the front-view camera, driving recorder, and radar detector of the first vehicle can be used to detect whether there is a second vehicle within a preset distance (for example, 200m) in front of the first vehicle. If there is no second vehicle in front of the first vehicle, the detection device of the first vehicle can be controlled to continuously detect the area in front of the first vehicle. If there is a second vehicle in front of the first vehicle, the measurement information between the first vehicle and the second vehicle can be obtained through the detection device of the first vehicle. The measurement information may include the relative speed between the first vehicle and the second vehicle, and may also include the target distance between the first vehicle and the second vehicle, etc. The relative speed is the speed of the second vehicle relative to the first vehicle. When the first vehicle is moving, if the relative speed is less than zero, it indicates that the second vehicle and the first vehicle are traveling in the same direction (i.e., the second vehicle and the first vehicle are traveling in the same direction) and the second vehicle's speed is greater than the first vehicle's. If the relative speed is zero, it indicates that the second vehicle and the first vehicle are traveling in the same direction and the second vehicle's speed is equal to the first vehicle's speed. If the relative speed is greater than zero, the second vehicle and the first vehicle may be traveling in the same direction, in which case the second vehicle's speed is less than the first vehicle's speed. If the relative speed is greater than zero, the second vehicle and the first vehicle may be traveling in different directions (i.e., the second vehicle and the first vehicle are traveling in opposite directions), or the second vehicle may be parked on the road. The target distance is the distance between the first and second vehicles. After determining the relative speed, the first vehicle can further determine the second vehicle's speed based on the first vehicle's speed. This allows the first vehicle to transmit the first vehicle's driving information and measurement information to the control center while also transmitting the second vehicle's speed to the control center, thereby enabling the control center to control the second vehicle.

[0062] Step 103: If the relative speed is zero, send a first instruction to the control center, so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction. The first instruction is used to instruct the second vehicle to accelerate or travel at a constant speed.

[0063] Step 104: If the relative speed is greater than zero, control the first vehicle according to the relative speed and the driving speed.

[0064] For example, after obtaining the driving information and measurement information of the first vehicle, the obtained driving information and measurement information can be sent to the TCMS (English: Train Control and Management System, Chinese: Train Control and Management System) of the first vehicle through the control unit, so that the TCMS controls the first vehicle and the second vehicle according to the relative speed. Specifically, if the relative speed is less than zero, it means that the second vehicle and the first vehicle have the same driving direction, and the driving speed of the first vehicle is less than the driving speed of the second vehicle. When the first vehicle and the second vehicle maintain their current driving speeds, the target distance detected by the detection device at the next moment will be greater than the target distance detected at the current moment (the target distance becomes larger), that is, the first vehicle and the second vehicle will not collide when they maintain their current driving speeds. At this time, the relative speed can be continuously detected to ensure the driving safety of the first vehicle and the second vehicle. If the relative speed is equal to zero, it means that the second vehicle and the first vehicle are traveling in the same direction, and the speed of the first vehicle is equal to the speed of the second vehicle. When the first vehicle and the second vehicle maintain their current speeds, the target distance detected by the detection device at the next moment is equal to the target distance detected at the current moment (the target distance remains unchanged), that is, the first vehicle and the second vehicle will not collide when they maintain their current speeds. At this time, the first vehicle can send a first instruction to the control center to instruct the second vehicle to accelerate or travel at a constant speed. After receiving the first instruction, the control center forwards the first instruction to the second vehicle so that the second vehicle accelerates or travels at a constant speed according to the first instruction. The first instruction sent by the first vehicle to the control center can include the vehicle identification number (VIN) of the first vehicle. The vehicle identification number of each first vehicle is unique, that is, each first vehicle corresponds one-to-one to its vehicle identification code. In this way, when multiple first vehicles send first instructions to the control center, the control center can distinguish the multiple first instructions received based on the vehicle identification codes of the first vehicles, and then, after determining the first vehicle corresponding to each first instruction, send each first instruction to the second vehicle ahead of the corresponding first vehicle, so that each second vehicle accelerates or travels at a constant speed according to the corresponding first instruction. The control center can know the positions of the multiple vehicles under control, so after receiving the first instruction, the control center can determine the second vehicle ahead of the first vehicle based on the position of the first vehicle.

[0065] If the relative speed is greater than zero, when the first vehicle and the second vehicle maintain their current speed (the speed of the second vehicle when it is stopped on the road is 0), the target distance detected by the detection device at the next moment is less than the target distance detected at the current moment (the target distance becomes smaller), that is, there is a risk of collision when the first vehicle and the second vehicle maintain their current speed. At this time, the first vehicle can be controlled according to the relative speed and the speed of the first vehicle. For example, when the relative speed is greater than or equal to the speed of the first vehicle, the first vehicle can be braked according to the level corresponding to the speed of the first vehicle. When the relative speed is less than the speed of the first vehicle and greater than zero, the deceleration of the first vehicle is determined according to the target distance and the smoothness of the road surface where the first vehicle is located, and then the first vehicle is controlled to decelerate according to the deceleration. During the driving of the first vehicle, the TCMS can continuously obtain driving information and measurement information, and can control the first vehicle based on the obtained driving information and measurement information to ensure the driving safety of all vehicles on the road.

[0066] Furthermore, the information such as instructions, driving information, measurement information, etc. for controlling the first vehicle and / or the second vehicle can be sent to the control center through TCMS so that the control center can monitor the first vehicle and the second vehicle in real time. Alternatively, the information such as instructions, driving information, measurement information, etc. for controlling the first vehicle and / or the second vehicle can be first sent to the signal system of the first vehicle through TCMS, and then the OBU (On Board Unit) of the signal system sends the received information to the control center. The present disclosure does not limit this. In addition to OBU, the signal system can also include CBI (Computer Based Interlocking System), ATP (Automatic Train Protection), ATO (Automatic Train Operation), ATS (Automatic Train Supervision), etc.

[0067] After the control center receives the command to control the first vehicle and / or the second vehicle, it can monitor the first vehicle and / or the second vehicle to determine whether the first vehicle and / or the second vehicle can execute the corresponding command. If the control center monitors that the first vehicle and / or the second vehicle does not execute the corresponding control command within a preset time range, the control center can determine the first vehicle and / or the second vehicle as a faulty vehicle, and control the first vehicle and / or the second vehicle to stop, and at the same time send an alarm message to the maintenance personnel so that the maintenance personnel can repair the faulty vehicle in time. In another implementation, the on-duty personnel of the control center can also judge the first vehicle and / or the second vehicle according to the received command, and then determine whether to control the first vehicle and / or the second vehicle to stop and whether to send the corresponding alarm message to the maintenance personnel based on the result of the judgment. This disclosure does not limit this. It should be noted that in addition to controlling the first vehicle through TCMS, the signal system, control center, etc. can also control the first vehicle according to the corresponding command after obtaining the command sent by TCMS to ensure that the first vehicle executes the command generated by TCMS, thereby ensuring the driving safety of all vehicles on the road.

[0068] In summary, in the present disclosure, the first vehicle first obtains driving information including the driving speed of the first vehicle, and then obtains measurement information including the relative speed between the first vehicle and a second vehicle, wherein the second vehicle is the vehicle in front of the first vehicle. The relative speed between the first vehicle and the second vehicle is then determined. If the relative speed is zero, a first instruction for instructing the second vehicle to accelerate or travel at a constant speed is sent to the control center, so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction. If the relative speed is greater than zero, the first vehicle is controlled according to the relative speed and the driving speed. The present disclosure controls the driving of the first vehicle and the second vehicle respectively according to the relative speed between the first vehicle and the second vehicle and the driving speed of the first vehicle, which can avoid vehicle collisions and improve the safety of vehicle driving.

[0069] Figure 2 is a flow chart showing another method for controlling a vehicle according to an exemplary embodiment. Figure 2 As shown, the measurement information further includes: a target distance between the first vehicle and the second vehicle, and the driving information further includes: road condition information and a level corresponding to the driving speed.

[0070] Step 104 includes:

[0071] Step 1041: If the relative speed is greater than the driving speed, the first vehicle is controlled to brake according to the level corresponding to the driving speed, and a second instruction is sent to the control center so that the control center sends the second instruction to the second vehicle, and the second vehicle executes the second instruction. The second instruction is used to instruct the second vehicle to brake.

[0072] Step 1042: If the relative speed is equal to the driving speed, the first vehicle is controlled to decelerate according to the target distance and road condition information.

[0073] For example, in addition to the relative speed between the first and second vehicles, the measurement information may also include the target distance between the first and second vehicles. Driving information may include not only the first vehicle's speed but also road condition information and the speed level. When the relative speed is greater than zero, the relative speed relative to the first vehicle's speed can be further determined, and the first vehicle can be controlled based on the difference between the relative speed and the first vehicle's speed. Specifically, if the relative speed is greater than the first vehicle's speed, indicating that the second and first vehicles are traveling in different directions and are approaching each other, the first vehicle can be braked based on the speed level of the first vehicle and a second instruction can be generated by the first vehicle to instruct the second vehicle to brake. After the first vehicle sends the second instruction to the control center, the control center receives the second instruction and forwards it to the second vehicle. Upon receiving the second instruction, the second vehicle controls the braking of the second vehicle based on the speed level of the second vehicle, thereby ensuring the driving safety of both the first and second vehicles. If the relative speed is equal to the speed of the first vehicle, it indicates that the second vehicle is parked on the road and its speed is zero. In this case, the deceleration of the first vehicle can be determined based on the target distance and road condition information, and then the first vehicle can be controlled to decelerate based on this deceleration. For example, the deceleration of the first vehicle can be determined based on a preset functional relationship based on the target distance and road condition information, or by using a table lookup or other method.

[0074] Furthermore, after the first vehicle decelerates, it can send an inquiry message to the control center to determine whether the second vehicle is a faulty vehicle. If the second vehicle is a faulty vehicle, after the first vehicle receives the feedback signal (e.g., a high-level signal) sent by the control center, it can control the braking of the first vehicle according to the level corresponding to the current driving speed of the first vehicle. If the second vehicle is a normal vehicle, after the first vehicle receives the feedback signal (e.g., a low-level signal) sent by the control center, it can generate an instruction for controlling the driving of the second vehicle and send the instruction to the control center so that the control center forwards the instruction to the second vehicle, thereby causing the second vehicle to drive according to the instruction. After the first vehicle sends the instruction, it can continuously detect the relative speed and control the first vehicle according to the change in the relative speed.

[0075] Figure 3 is a flow chart showing another method for controlling a vehicle according to an exemplary embodiment. Figure 3As shown, the measurement information further includes: a target distance between the first vehicle and the second vehicle, and the driving information further includes: a level corresponding to the driving speed.

[0076] Step 104 includes:

[0077] Step 1043: If the relative speed is less than the driving speed, determine the theoretical braking distance of the first vehicle according to the driving speed.

[0078] Step 1044, when the theoretical braking distance is greater than or equal to the target distance, the first vehicle is controlled to brake according to the level corresponding to the driving speed, and a third instruction is sent to the control center, so that the control center sends the third instruction to the second vehicle, and the second vehicle executes the third instruction. The third instruction is used to instruct the second vehicle to accelerate.

[0079] For example, the measurement information may include not only the relative speed between the first and second vehicles but also the target distance between them. Driving information may include not only the speed of the first vehicle but also the speed level of the first vehicle. If the relative speed is greater than zero, but is less than the speed of the first vehicle, this indicates that the second and first vehicles are traveling in the same direction and that the second vehicle's speed is less than the first vehicle's speed. In this case, the theoretical braking distance of the first vehicle can be determined based on the speed of the first vehicle. The first vehicle can then be controlled based on the theoretical braking distance and the target distance. The theoretical braking distance can be understood as the distance a vehicle continues to travel on the road after braking according to the speed level. When determining the theoretical braking distance, the impact of road conditions on the theoretical braking distance can also be considered. The theoretical braking distance can be calculated based on the road conditions, driving speed, and preset calculation rules. For example, the theoretical braking distance when the road condition indicates a slippery road should be greater than the theoretical braking distance when the road condition indicates a dry road. Alternatively, the theoretical braking distance can be queried based on the road conditions, driving speed, and a preset relationship table to ensure that the determined theoretical braking distance matches the vehicle's actual driving conditions. If the theoretical braking distance is greater than or equal to the target distance, it means that controlling the braking of the first vehicle according to the level corresponding to the first vehicle's speed is insufficient to ensure the driving safety of the first and second vehicles. In this case, the braking of the first vehicle can be controlled according to the level corresponding to the first vehicle's speed, and the first vehicle can be controlled to generate a third instruction for instructing the second vehicle to accelerate. After the first vehicle sends the third instruction to the control center, the control center receives the third instruction and forwards the third instruction to the second vehicle, so that after receiving the third instruction, the second vehicle controls the second vehicle to accelerate according to the third instruction, thereby ensuring the driving safety of the first and second vehicles. If the theoretical braking distance is less than the target distance, it means that controlling the braking of the first vehicle according to the level corresponding to the first vehicle's speed can ensure the driving safety of the first and second vehicles. In this case, the braking of the first vehicle can be controlled according to the level corresponding to the first vehicle's speed.

[0080] Figure 4 is a flow chart showing another method for controlling a vehicle according to an exemplary embodiment. Figure 4 As shown, step 104 also includes:

[0081] Step 1045 : When the theoretical braking distance is less than the target distance, a distance threshold is determined based on the driving speed and the preset delay time.

[0082] Step 1046: If the difference between the target distance and the theoretical braking distance is greater than the distance threshold, the first vehicle is controlled to decelerate or travel at a constant speed.

[0083] Step 1047: If the difference between the target distance and the theoretical braking distance is equal to the distance threshold, the first vehicle is braked according to the highest gear of the first vehicle.

[0084] Step 1048: If the difference between the target distance and the theoretical braking distance is less than the distance threshold, the first vehicle is controlled to brake according to the maximum braking deceleration, and a fourth instruction is sent to the control center, so that the control center sends the fourth instruction to the second vehicle, and the second vehicle executes the fourth instruction. The fourth instruction is used to instruct the second vehicle to accelerate or travel at a constant speed.

[0085] For example, when controlling the first vehicle based on its driving information and measurement information, if the theoretical braking distance is less than the target distance, a distance threshold can be determined based on the driving speed and a preset delay time (e.g., 1s). The preset delay time can be understood as the delay time during data transmission between the vehicle and the control center, and the distance threshold can be the product of the current driving speed of the first vehicle and the preset delay time, representing the distance traveled by the first vehicle within the preset delay time. After determining the distance threshold, the first vehicle can be controlled by comparing the difference between the target distance and the theoretical braking distance with the distance threshold. Specifically, if the difference between the target distance and the theoretical braking distance is greater than the distance threshold, it means that controlling the braking of the first vehicle according to the level corresponding to the driving speed of the first vehicle can avoid a collision between the first vehicle and the second vehicle. At this time, the deceleration corresponding to the driving speed of the first vehicle can be determined according to the preset rules, and then the first vehicle can be controlled to decelerate at this deceleration, or the first vehicle can be controlled to travel at a constant speed. If the difference between the target distance and the theoretical braking distance is equal to the distance threshold, it indicates that there is a risk of collision between the first and second vehicles after the first vehicle's braking is controlled according to the gear corresponding to the first vehicle's speed. In this case, the first vehicle's braking can be controlled according to the deceleration corresponding to the first vehicle's highest gear. If the difference between the target distance and the theoretical braking distance is less than the distance threshold, it indicates that there is still a risk of collision between the first and second vehicles even if the first vehicle's braking is controlled according to the deceleration corresponding to the first vehicle's highest gear. In this case, the first vehicle's braking can be controlled according to the maximum braking deceleration. The maximum braking deceleration can be the deceleration corresponding to the first vehicle's safety braking. The safety braking of the first vehicle can be understood as emergency braking of the first vehicle, while braking according to the gear corresponding to the first vehicle's speed can be understood as conventional braking of the first vehicle. Typically, emergency braking is mechanical braking, while conventional braking is a hybrid braking system that includes both electrical and mechanical braking. While the first vehicle is braking according to the maximum braking deceleration, the first vehicle can be controlled to generate a fourth instruction instructing the second vehicle to accelerate or travel at a constant speed. After the first vehicle sends the fourth instruction to the control center, the control center receives the fourth instruction and forwards the fourth instruction to the second vehicle, so that after receiving the fourth instruction, the second vehicle controls the second vehicle to accelerate or travel at a constant speed according to the fourth instruction.

[0086] Figure 5 is a flow chart showing another method for controlling a vehicle according to an exemplary embodiment. Figure 5 As shown, the method further includes:

[0087] Step 105 : Send the driving information and the measurement information to the control center, so that the control center controls the second vehicle according to the driving information and the measurement information.

[0088] For example, the driving information and measurement information can be sent directly to the control center via the TCMS, or the driving information and measurement information can be first sent to the signal system of the first vehicle via the TCMS, and then the driving information and measurement information are sent to the control center by the OBU of the signal system. After receiving the driving information and measurement information, the control center can control the second vehicle according to the driving information and measurement information according to the same control strategy as the first vehicle (i.e., steps 103 to 104 in the above embodiment). For example, if the relative speed included in the measurement information received by the control center is equal to zero, then a control instruction is sent to the second vehicle to accelerate or drive at a constant speed. Alternatively, if the relative speed included in the measurement information received by the control center is greater than zero and the relative speed is greater than the driving speed of the first vehicle included in the driving information, then a control instruction is sent to the second vehicle to brake the second vehicle. If the control center detects that the second vehicle has not executed the control instruction within a preset time range, it can determine that the second vehicle is a faulty vehicle and control the second vehicle to stop. At the same time, an alarm message is sent to the maintenance personnel so that the maintenance personnel can promptly repair the faulty vehicle, thereby ensuring the driving safety of all vehicles on the road.

[0089] In summary, in the present disclosure, the first vehicle first obtains driving information including the driving speed of the first vehicle, and then obtains measurement information including the relative speed between the first vehicle and a second vehicle, wherein the second vehicle is the vehicle in front of the first vehicle. The relative speed between the first vehicle and the second vehicle is then determined. If the relative speed is zero, a first instruction for instructing the second vehicle to accelerate or travel at a constant speed is sent to the control center, so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction. If the relative speed is greater than zero, the first vehicle is controlled according to the relative speed and the driving speed. The present disclosure controls the driving of the first vehicle and the second vehicle respectively according to the relative speed between the first vehicle and the second vehicle and the driving speed of the first vehicle, which can avoid vehicle collisions and improve the safety of vehicle driving.

[0090] Figure 6 is a block diagram of a vehicle control device according to an exemplary embodiment. Figure 6 As shown, the device 200 is applied to a first vehicle and includes:

[0091] The first acquisition module 201 is configured to acquire driving information of a first vehicle, where the driving information includes a driving speed of the first vehicle.

[0092] The second acquisition module 202 is configured to acquire measurement information, where the measurement information includes a relative speed between a first vehicle and a second vehicle, where the second vehicle is a vehicle in front of the first vehicle.

[0093] The sending module 203 is used to send a first instruction to the control center if the relative speed is zero, so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction. The first instruction is used to instruct the second vehicle to accelerate or travel at a constant speed.

[0094] The control module 204 is configured to control the first vehicle according to the relative speed and the driving speed if the relative speed is greater than zero.

[0095] Optionally, the measurement information further includes: a target distance between the first vehicle and the second vehicle, and the driving information further includes: road condition information and a level corresponding to the driving speed.

[0096] The control module 204 is used to:

[0097] If the relative speed is greater than the driving speed, the first vehicle is controlled to brake according to the level corresponding to the driving speed, and a second instruction is sent to the control center so that the control center sends the second instruction to the second vehicle, and the second vehicle executes the second instruction. The second instruction is used to instruct the second vehicle to brake.

[0098] If the relative speed is equal to the driving speed, the first vehicle is controlled to decelerate according to the target distance and road condition information.

[0099] Optionally, the measurement information further includes: a target distance between the first vehicle and the second vehicle, and the driving information further includes: a level corresponding to the driving speed.

[0100] The control module 204 is used to:

[0101] If the relative speed is less than the driving speed, the theoretical braking distance of the first vehicle is determined according to the driving speed.

[0102] When the theoretical braking distance is greater than or equal to the target distance, the first vehicle is controlled to brake according to the level corresponding to the driving speed, and a third instruction is sent to the control center, so that the control center sends the third instruction to the second vehicle, and the second vehicle executes the third instruction. The third instruction is used to instruct the second vehicle to accelerate.

[0103] Optionally, the control module 204 is further configured to:

[0104] When the theoretical braking distance is less than the target distance, the distance threshold is determined based on the driving speed and the preset delay time.

[0105] If the difference between the target distance and the theoretical braking distance is greater than the distance threshold, the first vehicle is controlled to decelerate or travel at a constant speed.

[0106] If the difference between the target distance and the theoretical braking distance is equal to the distance threshold, the first vehicle is controlled to brake according to the highest gear of the first vehicle.

[0107] If the difference between the target distance and the theoretical braking distance is less than the distance threshold, the first vehicle is controlled to brake according to the maximum braking deceleration, and a fourth instruction is sent to the control center, so that the control center sends the fourth instruction to the second vehicle, and the second vehicle executes the fourth instruction. The fourth instruction is used to instruct the second vehicle to accelerate or travel at a constant speed.

[0108] Optionally, the sending module 203 is further configured to:

[0109] The driving information and the measurement information are sent to a control center, so that the control center controls the second vehicle according to the driving information and the measurement information.

[0110] Regarding the device in the above embodiment, the specific manner in which each part performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0111] In summary, in the present disclosure, the first vehicle first obtains driving information including the driving speed of the first vehicle, and then obtains measurement information including the relative speed between the first vehicle and a second vehicle, wherein the second vehicle is the vehicle in front of the first vehicle. The relative speed between the first vehicle and the second vehicle is then determined. If the relative speed is zero, a first instruction for instructing the second vehicle to accelerate or travel at a constant speed is sent to the control center, so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction. If the relative speed is greater than zero, the first vehicle is controlled according to the relative speed and the driving speed. The present disclosure controls the driving of the first vehicle and the second vehicle respectively according to the relative speed between the first vehicle and the second vehicle and the driving speed of the first vehicle, which can avoid vehicle collisions and improve the safety of vehicle driving.

[0112] Figure 7 is a block diagram of a vehicle according to an exemplary embodiment, as shown in FIG. Figure 7 As shown, the vehicle 300 includes:

[0113] The controller 301 is configured to execute the steps of any one of the methods in the first aspect of the embodiments of the present disclosure.

[0114] Regarding the vehicle in the above embodiment, the specific implementation of the controller has been described in detail in the embodiment of the method and will not be elaborated here.

[0115] In summary, in the present disclosure, the first vehicle first obtains driving information including the driving speed of the first vehicle, and then obtains measurement information including the relative speed between the first vehicle and a second vehicle, wherein the second vehicle is the vehicle in front of the first vehicle. The relative speed between the first vehicle and the second vehicle is then determined. If the relative speed is zero, a first instruction for instructing the second vehicle to accelerate or travel at a constant speed is sent to the control center, so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction. If the relative speed is greater than zero, the first vehicle is controlled according to the relative speed and the driving speed. The present disclosure controls the driving of the first vehicle and the second vehicle respectively according to the relative speed between the first vehicle and the second vehicle and the driving speed of the first vehicle, which can avoid vehicle collisions and improve the safety of vehicle driving.

[0116] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, those skilled in the art can easily think of other implementation plans of the present disclosure after considering the specification and practicing the present disclosure, and all of them belong to the protection scope of the present disclosure.

[0117] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will no longer separately describe various possible combinations. As long as they do not violate the ideas of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle control method, characterized in that: Applied to a first vehicle, the method includes: Acquiring driving information of a first vehicle, the driving information including a driving speed of the first vehicle; Acquiring measurement information, the measurement information including a relative speed between the first vehicle and a second vehicle, the second vehicle being a vehicle ahead of the first vehicle; If the relative speed is zero, sending a first instruction to a control center, so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction, wherein the first instruction is used to instruct the second vehicle to accelerate or travel at a constant speed; If the relative speed is greater than zero, controlling the first vehicle according to the relative speed and the driving speed; The measurement information further includes: a target distance between the first vehicle and the second vehicle; the driving information further includes: road condition information and a level corresponding to the driving speed; If the relative speed is greater than zero, controlling the first vehicle according to the relative speed and the driving speed includes: If the relative speed is greater than the driving speed, the first vehicle is controlled to brake according to the level corresponding to the driving speed, and a second instruction is sent to the control center, so that the control center sends the second instruction to the second vehicle, and the second vehicle executes the second instruction, wherein the second instruction is used to instruct the second vehicle to brake; If the relative speed is equal to the driving speed, the first vehicle is controlled to decelerate according to the target distance and the road condition information.

2. The method according to claim 1, characterized in that The measurement information further includes: a target distance between the first vehicle and the second vehicle; the driving information further includes: a level corresponding to the driving speed; If the relative speed is greater than zero, controlling the first vehicle according to the relative speed and the driving speed includes: If the relative speed is less than the driving speed, determining a theoretical braking distance of the first vehicle according to the driving speed; When the theoretical braking distance is greater than or equal to the target distance, the first vehicle is braked according to the level corresponding to the driving speed, and a third instruction is sent to the control center, so that the control center sends the third instruction to the second vehicle, and the second vehicle executes the third instruction. The third instruction is used to instruct the second vehicle to accelerate.

3. The method according to claim 2, characterized in that If the relative speed is greater than zero, controlling the first vehicle according to the relative speed and the driving speed further includes: When the theoretical braking distance is less than the target distance, determining a distance threshold according to the driving speed and a preset delay time; If the difference between the target distance and the theoretical braking distance is greater than the distance threshold, controlling the first vehicle to decelerate or travel at a constant speed; If the difference between the target distance and the theoretical braking distance is equal to the distance threshold, controlling the first vehicle to brake according to the highest gear of the first vehicle; If the difference between the target distance and the theoretical braking distance is less than the distance threshold, the first vehicle is controlled to brake according to the maximum braking deceleration, and a fourth instruction is sent to the control center, so that the control center sends the fourth instruction to the second vehicle, and the second vehicle executes the fourth instruction. The fourth instruction is used to instruct the second vehicle to accelerate or travel at a constant speed.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: The driving information and the measurement information are sent to the control center, so that the control center controls the second vehicle according to the driving information and the measurement information.

5. A vehicle control device, characterized in that: Applied to a first vehicle, the device comprises: A first acquisition module is configured to acquire driving information of a first vehicle, wherein the driving information includes a driving speed of the first vehicle; a second acquisition module, configured to acquire measurement information, the measurement information including a relative speed between the first vehicle and a second vehicle, the second vehicle being a vehicle in front of the first vehicle; a sending module, configured to send a first instruction to a control center if the relative speed is zero, so that the control center sends the first instruction to the second vehicle, and the second vehicle executes the first instruction, wherein the first instruction is used to instruct the second vehicle to accelerate or travel at a constant speed; a control module, configured to control the first vehicle according to the relative speed and the driving speed if the relative speed is greater than zero; The measurement information further includes: a target distance between the first vehicle and the second vehicle; the driving information further includes: road condition information and a level corresponding to the driving speed; The control module is used for: If the relative speed is greater than the driving speed, the first vehicle is controlled to brake according to the level corresponding to the driving speed, and a second instruction is sent to the control center, so that the control center sends the second instruction to the second vehicle, and the second vehicle executes the second instruction, wherein the second instruction is used to instruct the second vehicle to brake; If the relative speed is equal to the driving speed, the first vehicle is controlled to decelerate according to the target distance and the road condition information.

6. The device according to claim 5, characterized in that The measurement information further includes: a target distance between the first vehicle and the second vehicle; the driving information further includes: a level corresponding to the driving speed; The control module is used for: If the relative speed is less than the driving speed, determining a theoretical braking distance of the first vehicle according to the driving speed; When the theoretical braking distance is greater than or equal to the target distance, the first vehicle is braked according to the level corresponding to the driving speed, and a third instruction is sent to the control center, so that the control center sends the third instruction to the second vehicle, and the second vehicle executes the third instruction. The third instruction is used to instruct the second vehicle to accelerate.

7. The device according to claim 6, characterized in that The control module is further configured to: When the theoretical braking distance is less than the target distance, determining a distance threshold according to the driving speed and a preset delay time; If the difference between the target distance and the theoretical braking distance is greater than the distance threshold, controlling the first vehicle to decelerate or travel at a constant speed; If the difference between the target distance and the theoretical braking distance is equal to the distance threshold, controlling the first vehicle to brake according to the highest gear of the first vehicle; If the difference between the target distance and the theoretical braking distance is less than the distance threshold, the first vehicle is controlled to brake according to the maximum braking deceleration, and a fourth instruction is sent to the control center, so that the control center sends the fourth instruction to the second vehicle, and the second vehicle executes the fourth instruction. The fourth instruction is used to instruct the second vehicle to accelerate or travel at a constant speed.

8. The device according to any one of claims 5 to 7, characterized in that The sending module is further used for: The driving information and the measurement information are sent to the control center, so that the control center controls the second vehicle according to the driving information and the measurement information.

9. A vehicle, characterized in that: The vehicle is provided with a controller, and the controller is used to execute the steps in any one of the methods according to claims 1-4.

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