Vehicle and Its Control Method, Storage Medium, and Electronic Device

Abstract

The present invention discloses a vehicle, its control method, storage medium, and electronic device. The method includes: obtaining first BSM information of the host vehicle and second BSM information of the preceding vehicle, where the first BSM information includes a first vehicle speed, a first position, and a first acceleration, and the second BSM information includes a second vehicle speed, a second position, and a second acceleration; when the first vehicle speed is greater than a low-speed threshold, obtaining the distance between the host vehicle and the preceding vehicle based on the first position and the second position; when the distance between vehicles is less than a distance threshold between vehicles, calculating the time to collision between the host vehicle and the preceding vehicle based on the first vehicle speed, the second vehicle speed, the first acceleration, the second acceleration, and the distance between vehicles; obtaining a forward collision time threshold based on a forward collision time threshold empirical value, the first vehicle speed, and the relative acceleration; and when the time to collision is less than the forward collision time threshold, controlling the host vehicle to issue a forward collision warning. Thus, by using the collision time threshold obtained in an adaptive manner for collision judgment, the collision risk can be better reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to a vehicle, a control method thereof, a storage medium, and an electronic device. Background Art

[0002] C-V2X (Cellular Vehicle-to-Everything) is a technology based on a cellular mobile communication system. As a key information interaction technology in intelligent connected vehicles, it is mainly used to achieve communication guarantee for in-vehicle information sharing and cooperative control. Currently, the general software process based on C-V2X technology mainly includes: data acquisition, data organization, data exchange, and data processing. Data acquisition refers to obtaining data from vehicle buses, other peripheral sensors, roadside signal machines, cloud, etc.; data organization refers to organizing data into a standard data format for data exchange between C-V2X applications; data exchange refers to sending and receiving data; data processing refers to interacting with and refining effective information by combining traffic information obtained from the C-V2X method and self-collected data.

[0003] With the increase in the usage of vehicles, the importance of vehicle driving safety issues has become increasingly prominent, and the highest level of driving risk is the collision risk. In related technologies, the function of C-V2X technology is positioned as driving assistance. To reduce the collision risk, a forward collision warning application based on C-V2X technology has emerged. This application uses vehicle-to-vehicle information interaction to determine whether the current driving environment and driving behavior may generate a forward collision risk. If so, a forward collision warning is generated to give a safety prompt to the driver.

[0004] The data processing process in the forward collision warning application based on C-V2X technology has a direct relationship with the warning feasibility and performance, that is, this process calculates the required effective data using the collected data, and then uses multiple thresholds to judge the warning trigger for the effective data. Therefore, the selection of thresholds is related to the correctness and rationality of collision warning triggering. However, currently, the thresholds in most forward collision warning applications are fixed empirical values, and in some cases, such as high-speed driving conditions, the fixed empirical values may not be reasonable and have poor efficiency. Summary of the Invention

[0005] An object of the present invention is to propose a control method for a vehicle. By performing collision judgment using a collision time threshold obtained in an adaptive manner, the vehicle can issue a warning more reasonably and correctly to better reduce the collision risk.

[0006] A second object of the present invention is to propose a computer-readable storage medium.

[0007] The third object of the present invention is to provide an electronic device.

[0008] The fourth object of the present invention is to provide a vehicle.

[0009] To achieve the above object, an embodiment of the first aspect of the present invention provides a control method for a vehicle, the method comprising: obtaining first BSM information of the host vehicle and second BSM information of the preceding vehicle, wherein the first BSM information includes a first vehicle speed, a first position and a first acceleration of the host vehicle, and the second BSM information includes a second vehicle speed, a second position and a second acceleration of the preceding vehicle; when the first vehicle speed is greater than a low speed threshold, obtaining a distance between the host vehicle and the preceding vehicle according to the first position and the second position; when the distance between vehicles is less than a distance between vehicles threshold, calculating a collision time between the host vehicle and the preceding vehicle according to the first vehicle speed, the second vehicle speed, the first acceleration, the second acceleration and the distance between vehicles; obtaining an empirical value of a forward collision time threshold, and obtaining a forward collision time threshold according to the empirical value of the forward collision time threshold, the first vehicle speed and the relative acceleration; and when the collision time is less than the forward collision time threshold, controlling the host vehicle to issue a forward collision warning.

[0010] The control method for a vehicle according to an embodiment of the present invention calculates the collision time between the host vehicle and the preceding vehicle through the obtained vehicle BSM information, adaptively calculates the forward collision time threshold in combination with the empirical value of the forward collision time threshold, compares the collision time with the forward collision time threshold, and decides whether to issue a forward collision warning, thereby better avoiding the risk of collision between two vehicles.

[0011] According to an embodiment of the present invention, the first BSM information further includes a first vehicle length of the host vehicle, the second BSM information further includes a second vehicle length of the preceding vehicle, and calculating the collision time between the host vehicle and the preceding vehicle according to the first vehicle speed, the second vehicle speed, the first acceleration, the second acceleration and the distance between vehicles includes: calculating a relative vehicle speed between the host vehicle and the preceding vehicle according to the first vehicle speed and the second vehicle speed; calculating a relative acceleration between the host vehicle and the preceding vehicle according to the first acceleration and the second acceleration; calculating a collision distance between the host vehicle and the preceding vehicle according to the distance between vehicles, the first vehicle length and the second vehicle length; and calculating the collision time according to the relative vehicle speed, the relative acceleration and the collision distance.

[0012] According to an embodiment of the present invention, the collision distance is obtained by the following formula:

[0013]

[0014] where S is the collision distance, D is the distance between vehicles, L HVis the first vehicle commander, L RV is the second vehicle commander.

[0015] According to an embodiment of the present invention, the collision time is calculated by the following formula:

[0016]

[0017] where t co is the collision time, S is the collision distance, v0 is the relative vehicle speed, and a is the relative acceleration.

[0018] According to an embodiment of the present invention, obtaining the forward collision time threshold according to the forward collision time threshold empirical value, the first vehicle speed, and the relative acceleration includes: obtaining a critical safety distance; calculating, according to the relative acceleration, the time required for the vehicle to travel the critical safety distance at the first vehicle speed; and obtaining the forward collision time threshold according to the required time and the forward collision time threshold empirical value.

[0019] According to an embodiment of the present invention, the required time is calculated by the following formula:

[0020]

[0021] where t is the required time, S cri_safe is the forward collision time threshold empirical value, v HV is the first vehicle speed, and a is the relative acceleration.

[0022] According to an embodiment of the present invention, when the required time is greater than the forward collision time threshold empirical value, the forward collision time threshold is obtained by the following formula:

[0023]

[0024] When the required time is less than or equal to the forward collision time threshold empirical value, the forward collision time threshold is obtained by the following formula:

[0025]

[0026] where t is the required time, t ttc_threshold is the forward collision time threshold empirical value, and t ttc is the forward collision time threshold.

[0027] To achieve the above object, a second embodiment of the present invention proposes a computer-readable storage medium. When the computer program is executed by a processor, the control method of the vehicle in the above embodiment is implemented.

[0028] To achieve the above object, a third embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory. When the computer program is executed by the processor, it implements the vehicle control method of the above embodiment.

[0029] To achieve the above object, a fourth embodiment of the present invention provides a vehicle, including the electronic device of the above embodiment.

[0030] The computer-readable storage medium, electronic device, and vehicle of the present invention implement collision judgment by adaptively calculating the time-to-collision threshold through the above vehicle control method, and determine whether to issue a forward collision warning, thereby better avoiding the risk of two-vehicle collision.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a flowchart of the vehicle control method according to an embodiment of the present invention;

[0033] Figure 2 is a flowchart of the vehicle control method according to a specific embodiment of the present invention;

[0034] Figure 3 is a flowchart of step S103 according to an example of the present invention;

[0035] Figure 4 is a flowchart of step S104 according to an example of the present invention;

[0036] Figure 5 is a flowchart of the calculation of the time-to-collision threshold according to an example of the present invention;

[0037] Figure 6 is a block diagram of the vehicle structure according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0039] To better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the drawings of the specification and specific embodiments.

[0040] Figure 1It is a flowchart of the control method of the vehicle according to the embodiment of the present invention.

[0041] As shown in Figure 1 the figure, the control method of the vehicle includes:

[0042] S101, obtaining the first BSM information of the vehicle itself and the second BSM information of the vehicle in front, where the first BSM information includes the first vehicle speed, the first position and the first acceleration of the vehicle itself, and the second BSM information includes the second vehicle speed, the second position and the second acceleration of the vehicle in front.

[0043] In this embodiment, the vehicle itself and the vehicle in front can communicate through the vehicle network. A data acquisition, data organization and data exchange module can be set on the vehicle itself to obtain the first BSM information of the vehicle itself and the second BSM information of the vehicle in front for subsequent collision judgment.

[0044] S102, when the first vehicle speed is greater than the low-speed threshold, obtaining the distance between the vehicle itself and the vehicle in front according to the first position and the second position.

[0045] Specifically, as shown in Figure 2 the figure, after obtaining the first vehicle speed, it is judged whether the first vehicle speed is greater than the low-speed threshold, such as 1 m / s. When the first vehicle speed is less than or equal to the low-speed threshold, it indicates that the vehicle speed of the vehicle itself is too small and the collision risk is low, and at this time, no forward collision warning is given.

[0046] S103, when the distance between the vehicles is less than the distance threshold, calculating the collision time between the vehicle itself and the vehicle in front according to the first vehicle speed, the second vehicle speed, the first acceleration, the second acceleration and the distance between the vehicles.

[0047] Specifically, the first position can be the longitude and latitude of the vehicle itself, and the second position can be the longitude and latitude of the vehicle in front. The distance D between the two vehicles can be obtained according to the longitude and latitude of the vehicle itself and the vehicle in front, and it is judged whether the distance D between the two vehicles is less than the distance threshold, such as 300 m. When the distance between the two vehicles is greater than or equal to the distance threshold, it indicates that the distance between the vehicles is large enough and the collision risk is low, and at this time, no forward collision warning is given.

[0048] As an example, the first BSM information further includes the first vehicle length of the vehicle itself, and the second BSM information further includes the second vehicle length of the vehicle in front.

[0049] In this example, as shown in Figure 3 the figure, step S103 includes:

[0050] S1031, calculating the relative vehicle speed between the vehicle itself and the vehicle in front according to the first vehicle speed and the second vehicle speed.

[0051] Specifically, v0 = v HV - v RV , where v0 is the relative vehicle speed, v HV is the first vehicle speed, vRV is the second vehicle speed. It should be understood that when the host vehicle and the leading vehicle are traveling in the same direction, v HV and v RV are both positive values; when the host vehicle and the leading vehicle are traveling in opposite directions, v HV is a positive value and v RV is a negative value.

[0052] S1032. Calculate the relative acceleration of the host vehicle and the leading vehicle according to the first acceleration and the second acceleration.

[0053] Specifically, a = a HV - a RV , where a is the relative acceleration, a HV is the first acceleration, and a RV is the second acceleration. It should be understood that when the host vehicle and the leading vehicle are traveling in the same direction, a HV and a RV are both positive values; when the host vehicle and the leading vehicle are traveling in opposite directions, a HV is a positive value and a RV is a negative value.

[0054] S1033. Calculate the collision distance between the host vehicle and the leading vehicle according to the inter-vehicle distance, the length of the first vehicle, and the length of the second vehicle.

[0055] Specifically, the collision distance can be obtained by the following formula:

[0056]

[0057] where S is the collision distance, D is the inter-vehicle distance, L HV is the length of the first vehicle, and L RV is the length of the second vehicle.

[0058] S1034. Calculate the collision time according to the relative vehicle speed, the relative acceleration, and the collision distance.

[0059] Specifically, the collision time can be calculated by the following formula:

[0060]

[0061] where t co is the collision time, S is the collision distance, v0 is the relative vehicle speed, and a is the relative acceleration.

[0062] S104. Obtain the empirical value of the forward collision time threshold, and obtain the forward collision time threshold according to the empirical value of the forward collision time threshold, the first vehicle speed, and the relative acceleration.

[0063] Specifically, the forward collision time threshold can be calculated according to the adaptive method of the forward collision time threshold based on the empirical value.

[0064] As an example, such asFigure 4 As shown, obtaining the forward collision time threshold according to the empirical value of the forward collision time threshold, the first vehicle speed, and the relative acceleration in step S104 may include:

[0065] S1041. Obtain the critical safety distance.

[0066] Specifically, the critical safety distance S may be set to cri_safe 50 m. In a short distance, the driving motion of the vehicle is approximated as a uniform motion, and its displacement calculation formula is S critical = v lim × t braking , where the maximum speed limit v of the vehicle in the city center is lim generally 11 m / s, and the maximum reaction time t of the driver for braking is braking generally taken as 1.5 s. Thus, it can be obtained that when the vehicle is driving at the maximum city speed limit, at least a distance of 16.5 m of S critical is required for braking. To ensure higher adaptability of the critical safety distance, S cri_safe is taken as 3 times S critical , that is, the critical safety distance S cri_safe is 49.5 m ≈ 50 m.

[0067] S1042. Calculate the time required for the vehicle to travel the critical safety distance at the first vehicle speed according to the relative acceleration.

[0068] Specifically, as Figure 5 , calculate the time t required for the vehicle to reach the critical safety distance at the current vehicle speed v HV . The driving motion of the vehicle can be approximated as a uniformly accelerated linear motion. At this time, the required time can be calculated by the following formula:

[0069]

[0070] where t is the required time, S cri_safe is the empirical value of the forward collision time threshold, v HV is the first vehicle speed, and a is the relative acceleration.

[0071] S1043. Obtain the forward collision time threshold according to the required time and the empirical value of the forward collision time threshold.

[0072] Specifically, by judging the magnitude of the difference value between t and the empirical value t ttc_threshold of the forward collision time threshold, determine the forward collision time threshold t HV at the current vehicle speed v ttc . According to engineering experience, the empirical value t ttc_threshold of the forward collision time threshold can be taken as 5 s. The specific judgment method is as follows:

[0073] AsFigure 5 As shown, when the required time is greater than the empirical value of the forward collision time threshold, i.e., t > t ttc_threshold , the forward collision time threshold is obtained by the following formula:

[0074]

[0075] When the required time is less than or equal to the empirical value of the forward collision time threshold, i.e., t ≤ t ttc_threshold , the forward collision time threshold is obtained by the following formula:

[0076]

[0077] where t is the required time, t ttc_threshold is the empirical value of the forward collision time threshold, and t ttc is the forward collision time threshold.

[0078] S105. When the collision time is less than the forward collision time threshold, control the vehicle to issue a forward collision warning.

[0079] Specifically, as Figure 2 shown, when the collision time is less than the forward collision time threshold, it indicates that there is a collision risk between the vehicle and the vehicle in front. At this time, control the vehicle to issue a forward collision warning, such as sending a voice warning message through the in-vehicle terminal, such as "There is a collision risk, please decelerate", or displaying a text warning message through the in-vehicle terminal, such as "There is a collision risk, please decelerate".

[0080] In the control method of the vehicle according to the embodiment of the present invention, in an urban environment, in order to adapt to high-speed driving conditions, the selection method of the forward collision time threshold in the forward collision warning application has changed from the previous fixed value to an adaptive method based on the empirical value. That is, through a fixed critical safety distance, the time t required for the vehicle to reach the critical safety distance at the current speed v HV can be obtained. And by judging the difference value between t and the empirical value t ttc_threshold of the forward collision time threshold, to determine the forward collision time threshold t HV at the current speed v ttc . This method combines experience and theory, takes the critical safety distance between the two vehicles as a consideration factor based on the maximum braking reaction time of the driver, and reduces the collision risk caused by inappropriate warning time at high speed. In the forward collision warning application, the corresponding forward collision warning time is obtained according to the vehicle speed of the vehicle. On urban roads, it adapts to various vehicle speed driving conditions, especially at high speeds, and gives an earlier warning than in general cases, giving the driver a relatively sufficient braking reaction time and reducing the collision risk.

[0081] Based on the above vehicle control method, the present invention proposes a computer-readable storage medium.

[0082] In an embodiment of the present invention, when the computer program is executed by a processor, the control method of the vehicle in the above embodiment is implemented.

[0083] Based on the above control method of the vehicle, the present invention also proposes an electronic device.

[0084] In this embodiment, the electronic device includes a memory, a processor, and a computer program stored on the memory. When the computer program is executed by the processor, the control method of the vehicle in the above embodiment is implemented.

[0085] Based on the above electronic device, the present invention proposes a vehicle.

[0086] As Figure 6 shown, the vehicle 100 includes the electronic device 10 in the above embodiment.

[0087] The computer-readable storage medium, electronic device, and vehicle implemented by the present invention, through the above control method of the vehicle, adaptively calculate the forward collision time threshold, perform collision judgment, and decide whether to issue a forward collision warning, thereby better avoiding the risk of two-vehicle collision.

[0088] It should be noted that the logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other appropriate processing as necessary, and then stored in a computer memory.

[0089] It should be understood that each part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following technologies well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0090] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0091] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0092] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0093] In the present invention, unless otherwise clearly specified or limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0094] In the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0095] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for a vehicle, characterized in that, The method includes: Obtaining first BSM information of the host vehicle and second BSM information of the preceding vehicle, where the first BSM information includes the first vehicle speed, first position, and first acceleration of the host vehicle, and the second BSM information includes the second vehicle speed, second position, and second acceleration of the preceding vehicle; When the first vehicle speed is greater than the low-speed threshold, obtaining the distance between the host vehicle and the preceding vehicle according to the first position and the second position; When the distance between the vehicles is less than the distance threshold, calculating the time to collision between the host vehicle and the preceding vehicle according to the first vehicle speed, the second vehicle speed, the first acceleration, the second acceleration, and the distance between the vehicles; Obtaining an empirical value of the forward time-to-collision threshold, and obtaining the forward time-to-collision threshold according to the empirical value of the forward time-to-collision threshold, the first vehicle speed, and the relative acceleration; the obtaining the forward time-to-collision threshold according to the empirical value of the forward time-to-collision threshold, the first vehicle speed, and the relative acceleration includes: Obtaining the critical safety distance; Calculating the time required for the host vehicle to travel the critical safety distance at the first vehicle speed according to the relative acceleration; Obtaining the forward time-to-collision threshold according to the difference value between the required time and the empirical value of the forward time-to-collision threshold; When the time to collision is less than the forward time-to-collision threshold, controlling the host vehicle to issue a forward collision warning.

2. The control method of the vehicle according to claim 1, characterized in that, The first BSM information further includes the first vehicle length of the host vehicle, and the second BSM information further includes the second vehicle length of the preceding vehicle. The calculating the time to collision between the host vehicle and the preceding vehicle according to the first vehicle speed, the second vehicle speed, the first acceleration, the second acceleration, and the distance between the vehicles includes: Calculating the relative vehicle speed between the host vehicle and the preceding vehicle according to the first vehicle speed and the second vehicle speed; Calculating the relative acceleration between the host vehicle and the preceding vehicle according to the first acceleration and the second acceleration; Calculating the collision distance between the host vehicle and the preceding vehicle according to the distance between the vehicles, the first vehicle length, and the second vehicle length; Calculating the time to collision according to the relative vehicle speed, the relative acceleration, and the collision distance.

3. The control method of a vehicle according to claim 1, wherein The collision distance is obtained by the following formula: Wherein, S is the collision distance, D is the inter-vehicle distance, L HV is the length of the first vehicle, and L RV is the length of the second vehicle.

4. The control method of a vehicle according to claim 3, characterized in that, The time to collision is calculated by the following formula: where t co is the collision time, S is the collision distance, v0 is the relative vehicle speed, and a is the relative acceleration.

5. The control method of a vehicle according to claim 1, characterized in that, The required time is calculated by the following formula: where t is the required time, S cri_safe is the empirical value of the forward collision time threshold, v HV is the first vehicle speed, and a is the relative acceleration.

6. The control method for a vehicle according to claim 1, wherein When the required time is greater than the empirical value of the forward time-to-collision threshold, the forward time-to-collision threshold is obtained by the following formula: When the required time is less than or equal to the empirical value of the forward time-to-collision threshold, the forward time-to-collision threshold is obtained by the following formula: where t is the required time, t ttc_threshold is the empirical value of the forward collision time threshold, t ttc is the forward collision time threshold.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the control method for a vehicle according to any one of claims 1-6.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory, characterized in that, When the computer program is executed by the processor, it implements the control method for a vehicle according to any one of claims 1-6.

9. A vehicle, characterized in that, Including the electronic device according to claim 8.

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